They can help set the table as soon as they're physically able to carry a spoon to the table. Don't wait until they can do the whole job. And don't get critical. So the spoon is upside down. Just tell them they did a great job, and start doing a little subtle coaching as they get older.
Research shows that kids who do chores do better in school, too.
So if you really want to do your kids a favor, make each kid responsible for putting together a meal each night. Then learn to be happy with microwaved hot dogs for a while.