We just got a Circle with Disney, and I'm really happy with what were able to do with it. It only works with devices that are connected to your home network, so it doesn't help when your kids are away from home, but I really like the flexibility it gives us with all the things we use at home.
https://meetcircle.com
We have also used the built in Restrictions on the iPad, and those have worked well for us.
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