I'm sorry but I have to respectfully disagree with this post. Taxation is not theft. Taxation is what makes a modern society work. It provides the means to enact public good. Everything from the roads you drive on, the parks you play in, the disability or welfare payments a person receives who is down on their luck. Police and fire services - the list goes on.
I think a better argument would be that tax taken is not always spent wisely or for the greater good - but thats something that needs to be address on a political level.
RE: Teach your kids about withholding taxes - by eating 33% of their ice cream.