Paul has some guidance on believers who are married to unbelievers (because of course he was writing to people who were mostly new converts).
He's quite clear that the Christian should not feel obliged to end the marriage.
He's also pretty clear that they shouldn't guilt-trip their spouse into staying if the spouse can't cope with it.
Unfortunately he's less clear on what to do with the kids (what a surprise...)
It sounds as if OP's husband is the evangelical type of Christian, who believes that all one's actions should be explicitly directed by What God Wants For My Life, that we are fighting against The World and The (embodied) Devil, and that everyone who doesn't specifically believe in God before they die will suffer eternal torment (which most of them, when they stop to ponder, are pretty unhappy about - so they don't ponder too hard and double down on the other stuff).
You're never going to get your children away from his preaching, even if you decide to leave him; so you will simply have to alleviate it.
Talk about how patterns and rituals and community have been important to humans. About how people often turn vague ideas of how we should behave into a set of rules and a single focus point to look towards. Talk about how religions have been a thing all over the world, and about how they develop. Talk about how the people of the OT interacted with God in a different way from the people of the Greco-Roman world, and the Renaissance and the Enlightenment (obviously not in great detail right now, but looking at paintings and so forth).
Talk about how treating people well is the idea behind all the extra rules about sex and clothes, and the fact that someone isn't following them doesn't mean you shouldn't treat her badly.