One of my favourite cooking memories from when J was little was when he was at pre-school. I baked a stack of large angel and Christmas tree plain biscuits and took them in with a bunch of decorating stuff and helped all the kids decorate them. They had such a blast and he still talks about that 8 years later.
I've had his friends over help make pizza when he was little, we've made sushi, and Boo has licked many a cake mix spoon!
Both boys have always been quite keen to help with dinner, or get involved in the cooking regardless of whether its cakes or spag bol and I have encouraged that as much as I can. I find this can help with them understanding and enjoying a variety of foods.
So do it. Embrace the little people in the kitchen. The mess might be a little more, and the biscuits might not be quite as even as you'd like, but it is so worth it.