A key part of creating a bedtime routine that is likely to help a child (or adult!) fall asleep is looking at the environment in which the bedtime routines are taking place.
Just like having enough time to engage in self-care tasks in a caring way helps to get the mind, body and spirit ready for sleep, completing these spaces in quiet calming spaces is equally important.
Imagine trying to have a "relaxation massage" while watching the Indy 500 races. Not likely a good fit. The environment needs to be calm in order to be able to do engage in activities calmly and to feel calm.
What environmental factors could be changed in your children's bedtime routine to help them get to a calmer state before "lights off"?