The Week magazine had a good feature on how to help your children best learn about finances.
First, give them a head start by encouraging entrepreneurialism. Get them to start a business. My small contribution to this (I don't have kids) is to ask kids "What type of business do you think you'll start?" rather than "Why type of job do you think you'll get?"
Second, tell them (and show them) not to carry credit card balances. Ever. Lead by example.
Third, get them investing early. Teach them about IRAs, Roth IRAs, SEPs, etc.
Fourth, use a Qualified Personal Residence Trust to pass your house on to your children.