Yes, we have a very strong preference. We are fully convinced that our faith is well placed, and believing thus, how would we want anything other than that same faith for our children? We want the same blessings and grace for our children... who wouldn't? Yes it would bother us if they rejected what they have learned. We would be deeply saddened. We would pray constantly that they would return to faith.
What do we do to help them learn and grow in their faith? How hands on are we? We had them baptized. We take them to church and Sunday School weekly (which they love). Our son went through Confirmation classes and was formally catechized and was confirmed. Our daughter is going through those classes now (and our son enjoyed it so much that he is going through it again with her just to take part in the discussions). Our son has participated in the summer week long camp (trip to NC to Camp LinnHaven, where they have multiple Bible studies each day, begin each day with an a cappella Matins service, take hikes and do other adventurous stuff, have campfires and play games, have opportunities for private confession, a cappella Divine Service with Holy Communion mid-week, and all classes are taught by Pastors) twice and can't wait to go again. Daughter will be confirmed this spring and will also go (to Confirmation Camp at LinnHaven) next summer. Our son serves as acolyte for services at church. Our daughter plays the liturgy on the piano for services (she loves it, we do not "make" her).
We began teaching them to pray as toddlers before meals and at bedtime. We still say mealtime prayers (common table prayer), and bedtime prayers. A few times a week we also confess The Apostle's Creed along with bedtime prayers. Husband does a short liturgy/evening prayers with them a couple times a week. And we openly discuss theology with them and in front of them all the time. Not mushy gushy emotional stuff, but actual "theology".... discussions about differences in denominational practice, belief and traditions, the basis for those practices and points of faith and arguments for and against, discussions about important points of the sermon or another angle that was not preached on, the latest WorldView Everlasting video blog (which our kids also watch sometimes, b/c they think Pastor Fisk is cool), an interesting article or comment from The Blog of Veith, etc etc etc...
Basically, since our faith touches every aspect of our lives and our understanding of our vocations (very valuable word that), we discuss how that faith and vocation work themselves out in everyday things as we come across them. It isn't just "morals" teaching.
Our kids are 13 and 10.
Is this what you mean?