I've found that one of the ways to get my kids to eat so-called "yucky" food (or rather potentially "yucky" food, since usually they've never actually tried it) is to involve them somehow in the preparation of it. Since it's summer, we tend to cook outside on the grill quite a bit, so combine participation with the spectacle of charring food over an open flame and you have pretty much an irresistable combination.
Let me first note that safety is first and foremost when cooking on the grill with kids around. Anything that gets hot enough to put a nice sear on the outside of a steak can similarly do so on someone's hand or arm, so the first rule of helping Daddy cook dinner on the grill is "stay away from the grill". The second rule is—wait for it—"stay away from the grill". Sensing a pattern here? Kids are not allowed outside unattended when the grill's hot, and trips outside to see what's going on are on a strictly escorted basis and confined to a safe zone on the deck overlooking the barbecue area.