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Other than choosing a very restricted whitelist of sites, you can't make the internet a safe place for kids. Pi-hole (DNS server) can be configured to implement a whitelist. It's also possible to implement whitelists and blacklists for connectivity to websites using Squid - this requires a bit of programming effort or you can use the Dans Guardian plugin. There are also curated lists of data which will populate these.
The next part is limiting access to certain websites. You would be amazed what are available. Either block sites at the wifi router or on the computers they use. Have a look at Steven Black's unified hosts file.