I scrolled through a few free typing programs and settled on BBC's Dance Mat Typing. This proved to be too silly for Genevieve, so I let her switch to this program, but the rest of us go around cooing "type on me" in a British accent.
I make Genevieve and Ben work on their typing every day as part of their chores. They complain about it. They don't see the need for this skill (please weigh in if you think this a useful skill anymore!). I was hoping they'd be great typists by summer's end, but they're both only about three-quarters of the way through memorizing the keys. Oh well. There's always next summer.