Absolutely. And the parent has an obligation to set the right example, by making his or her own brachos out loud, and training the kids to say amein. We train our kids (I hope so, at least) to say pelase and thank you when we give them something. It is even more crucial to express our hakoras hatov to Hashem by making the bracha.
Apropos of this, I have been zochah to be the “Bubbysitter” for two of my aineklach since their respective births, and even when they were newborn and I was giving them a bottle, I said a bracha for them (I drank something too, so it should not be a potential bracha l’vatala). I did the same thing with solid food as they got a bit older. They always associated making a bracha with being given their meals or snacks,