There are families cruising the coast. They are out there but can be hard to find due the size of the cruising area and the large number of anchorages
which abound on the east coast
The families that we met tended to be long term cruisers who home schooled their children
. We were always impressed with children
on cruisers as they seemed well adjusted and always having a ball.
If you are planning a trip further afield it may be worth looking at some of the yacht rallies such as the Darwin to Ambon or the Cairns to Indonesia
rally. Another area to research
is Youtube. Type in sailing with Children and you will find several video clips which may assist.