I've always tried to give my kids as many different experiences as I can, when they were young I tried to set things up so that we could fail together at things, and then work through them. It was important that they learn that failure is a way to learn how to not fail. Ignorance is just a signal that there is something else to learn. Pain is nature's way of saying "Hey, reconsider carefully what you are doing or just did."
But every kid is different, so the only advice I can really give is this; Understand that your kids are learning all the time, be mindful and deliberate in your interactions.