If you want children to learn to clean, you need to clean alongside them. Telling preschoolers to clean while you stand by and watch strikes me as futile. They will learn best with you modeling how. They will learn best when they have your adult companionship. They will know best when they realize cleaning is essential to you and not simply something relegated to them.
If you want young children to do their homework (hopefully, this is NOT an issue with preschoolers.), you should consider setting them up at the dining room table with you as you work through bills or your office work. Giving children this studious example is very wise - you are modeling how to focus and work quietly. You are available to help them through their frustrations and mental roadblocks. You may convey a genuine love of learning - how important is that?
If you want children to learn to cook, you need to have them working alongside you when you are in the kitchen. I love working side by side with my own four-year-old as we soak potatoes, mix cornbread, or fix a salad.
The next couple of weeks will bring many family togethernesses, with schools closing for winter break and holidays. What an excellent opportunity to be alongside your children, doing something together that you hope they will find engaging...something that will be so automatic and acceptable to them in later years that they will say, "It's just what we do!"