My youngest daughter sings. She had an early interest in singing/recording. Didn't want to learn to record, so it became something she and I have done together ever since. Started when she was 8.
She has learned a lot about singing technique, working a mic, etc through the experience.
Whenever she gets the urge she simply asks and we schedule it.

We offered piano lessons, which she jumped at (grandparents paid, as she took them at their music store). So I gave her one of my Roland Pianos, which is still in her room and played regularly.

We offered singing lessons, which she also jumped at for a short time, then became employed and started college, so that fell by the wayside.

I think the best way is to simply encourage their interest, offer what you can, but ultimately let them go at their own pace.

I do not work here, but the benefits are still awesome
Make your sound your own!