All liquid/gel/aerosol medications should be placed in one large clear zip top bag marked 'essential medication', in addition to your 1-litre toiletries or other restricted liquids/gels/aerosol bag, if you have one (we rarely do). Ensure they are in original containers, with prescription labels, and travelling with the person on that prescription label. (So make sure your family sticks together if parents carry meds for their children.)
Be aware that checked baggage may also get very cold, so any medication or supplies that are temperature sensitive should be in your carry on as well, and should be exempt from the 1-litre restrictions. (i.e. insulin, epinephrine, refrigerated medications with cooling packs.) There are some fuzzy restrictions on what is an acceptable cooling pack/device for medications that need to be kept cool. That's one you will have to ask about, since I've never had a solid good answer. (Although frozen peas are good if you aren't crossing international borders, since they are a solid that won't melt.)
I've never had TSA (or CATSA) bat an eye at my large bag of medical supplies. Many of them don't even take a second look at the bag. (Although the contents are clearly visible and in their original containers with prescription labels.)
There are few restrictions, but most essential medical supplies are permitted in your carry on. Any questions, call your local airport and ask to speak with the passenger screening department (TSA or CATSA).