Answer
Parents should inspire children, not force them.
If children are compelled to chant, they may do so only while they remain under parental control. Once they become independent, they may reject the practice.
Krishna desires voluntary devotion, so the parent's role is to create a joyful and attractive experience of Krishna consciousness.
Practical suggestions include:
Tell Krishna-lila stories
Show Krishna-related videos and animations
Let children develop affection for Krishna naturally
Encourage rather than coerce
Discipline should be taught in many aspects of life, but spiritual practice should be presented in a tasty, encouraging, and voluntary way.