Had the kids change into PJ’s, get their blanket off the bed to wrap up in while watching a planned movie with pop corn and while the last few commercials were on had them brush teeth and then watch the last part before going to bed.
It was a regular thing ( baths were taken earlier before in order to be set up for enjoyable evening.
other days took them bike riding, making kites and flying them, picnics, playgrounds, close by Mall for food court tasting, Movies, shopping.
Took them with me ( no car) walked to grocery store (one block away)and gave them each a portion of the list of things that we needed, each knew by then what brands to pick and it became a game of who can finish the each list first.
Other times put the sprinkler on and they ran through it on hot summer days, blowing bubbles and so on.
Once a month saved up for a dinner at a fancy restaurant ( for us anyways) to teach them how to behave in a good restaurant and taste new foods.