There's the Bed Time Stories series (by Santokh Singh Jagdev) which covers all 10 Gurus with some additional ones like Sikh Warriors - these are based on Suraj Parkash and each Sakhi is in English & Punjabi....the English translations are not so child friendly so you'll have to improvise with the words.....still a great way to read Sakhis/History and tell them to the kids.
If you find anything more geared for kids then please do share the title/author.
Fateh!