Have you had a look at nancysv's website? She's a regular poster here. She and her family are cycling from Alaska to Argentina, and have been on the road for more than a year now.
http://www.familyonbikes.org/
In addition to Nancy, Rowan and I have a friend in Tasmania who cycletoured with his kids from the time the girls were babies. He, his partner, and their baby of less than a year old toured the Himalayas ... and then continued with numerous other tours over the years as the girls grew up. The girls have the wanderlust now too, and the oldest one (who was the baby mentioned above) is off on an extended tour in Europe and surrounding areas.