We've taken our daughter to a few places - she's five now - and my wife and I traveled a lot when we were younger and kid-free, too. We're leaving in December for 5 months in Paraguay (gulp!) as a family, so I'll definitely have more to share at that point, but I do think the best thing to do is just...go. Pack up the kids, go somewhere, and accept that it'll be an experience, and almost certainly a great one.
Extended international travel (particularly with kids) is the easiest thing in the world to NOT do. There's never a perfect time, there's never enough money, it's never going to be stress-free.
But then you go, and it turns out it was the perfect time. And there was enough money. And it was the good kind of stress that makes you grow.
Or, at least I hope that's how it works out.
It always has thus far, but this next departure has me more rattled than usual.
Anyway. Just go. Stretch yourself. Be safe and smart, but figure it out on the run.
Dan (in Canada)