Personally I don't think you need a church to teach your children about religion. In fact I think it's a good idea kids learn what various religions believe so they understand them and grow up more tolerant people.
I was raised the way you say, but my mother took me to the Episcopal Church. She allowed me to form my own beliefs though. I was allowed to go to any church I wanted and to read about eastern religion and astrology. I've returned to the Episcopal Church. I find it a very healthy and tolerant place, especially for children. I take my grandsons with me. They love it. My oldest was baptized and takes communion. The church sent him to camp for a week. He trained to be an acolite last week. He loves the beauty and tolerance of it all. Our priest is a gay woman and his two godmothers are gay. You'd never know if they didn't tell you though. They are very normal.