No I never have, and it really is all about 'hygiene'.
I have had 2 very serious cases of food poisoning, and that I take seriously.
I would 'pretend' to make things, but as far as children cooking...my other fear far worst was that kitchens are not for young ones.
Have seen my grandson help his mum, but I don't like children under 10yrs
in a kitchen.(That is just me).