Here is a really good, practical article called,
"Teaching Kids to Love God: From Theory to Practice."
So, how do we as families teach our children to love God? For me, it was the personal example of my parents, my mother reading Bible stories to me as a child, my mother working God into conversations (this is why we do this or don't do this, because this is what God wants), my father deciding to leave industry to teach at a Christian college, them taking us on mission trips, etc.
So, for our family, we of course are seeking to teach by example. We take our kids sometimes to visit people in the hospital, hand out flyers as a family to invite people to evangelistic studies, explain what we are doing and why, and work God into daily conversation. We also have "songs, prayers, and Bible stories" about five nights per week.
So, what do you do to teach your children to love God?