Kids get the last-equipped skill of each parent at the time you do the mission to recruit them. So kids can start off at level 10 with a bonus pair of level 35 skills. All you have to do is pick each parent's awesomest skill, unequip an re-equip it, then do the paralogue for the brat. If the parent has no awesome skills, I suggest waiting until they do before hitting the mission.
One exception I've found is the all-stats +2 skill, so I'm guessing kids can't inherit DLC skills. I've read they can get gender-specific ones from the opposite gender, though.
"The worst part about these reviews is they are [subjective]--and their scores often depend on how drunk you got the media at a Street Fighter event." — Mona Hamilton, Capcom Senior VP of Marketing
*Image indefinitely borrowed from BrainBoxLtd without his consent.
