Yes. I remember making jam tarts pre-school, and we helped with things like weighing ingredients for the Christmas cake and pudding when quite little - plus stirring the mix and wishing on it. They sort of cooking was quite a family event. We hot involved with things like stirring the gravy for Sunday roast as soon as we were tall enough to reach, and we got jobs like peeling potatoes and so on. We also gained plenty of experience in picking and preparing soft fruit and freezing it, making jam and so on. Also how to pluck and draw pheasants, boil and press tongue and so on. I grew up on a farm, so I knew about food from the field to the plate. And once we could read, we were often used to help when cooking to a recipe, "how much caster sugar does it say?" The only things we didn't do was deep fat frying (chips) for safety reasons, and by the time I was old enough, we had oven chips instead.
My parents also had quite a few parties, which was usually catered for with a buffet. Mum was good at puds, so I knew how to do meringues and choux pastry from about age 10 or so.
My mother had a bit of an obsession around good poisoning, so we knew about salmonella, listeria, brucellosis and do on, and how to tell if things were off, when not to use tinned or jarred foods, not refreezing things once thawed and so on.
From quite young, there would be days when the kitchen table was covered with newspaper and we would clean all the silver and brass together. We were involved with dusting from quite little, but quite a bit older when using the vacuum, which was a big heavy upright - you could probably get children started earlier with modern lighter vacuums. Also things like cleaning the bathroom from a bit older because if chemicals. This was mostly in the school hols when we weren't at school.
We didn't have to do our own washing, but were all involved with putting worn clothes in the laundry basket, separating course, checking pockets, and then there were usually instructions left about having out the load when it finished, then put the darks in, and set the dial to whatever. We had to do our own ironing from about 15, but I had done dressmaking and used it to press seams and do on from younger. Because we had to iron our own things, I now iron almost everything. In contrast, because we had to iron our own things, my sister irons almost nothing.
My parents didn't discuss money much, but I was aware there were quite a few things we didn't have because we couldn't afford it. Nonetheless, by the time I went to uni, I could budget pretty well.
My mother always made it clear we were expected to leave home at 18, and made sure by the time we did, that we had the practical skills to run a house and garden and car. In some ways, I might have been to prepared. I discovered in towns, you call people out for the drains, rather than rodding them yourself. Good thing too, really, as I don't have a set of rods...