Although dc's are older than yours now, i went back to work when both of them were under a year old so I really understand where you are coming from. I work full time as a teacher and have to leave the house by 8 to drop off at the cm's.
I would second, third, fourth etc. the tips given already. The key is in the preparation the night before. As soon as we get in, I check book bags, sign anything that is needed, dates on calender etc. and homework/reading done and then repack ready for the morning. This includes makig sure pe kit etc. It all goes by the door ready for the off. I then empty packed lunch boxes, prepare the next days and pop in the fridge. Clothes are laid out in the bedroom the night before. Breakfast dishes are also laid out the night before although we have cereal so no preparing needed.
In the morning, I get up at 6.30 and sit around for 20-30 minutes drinking coffee, eating my breakfast and generally enjoying peace and quiet. 7am I go upstairs, stir the dc's and leave them to get dressed whilst I get ready (i shower in the evenings), with the occasional shout across the hall.
Everyone downstairs by 7.40, breakfast for dc's whilst I have a quick tidy and then teeth brushed and out of the door.
Sounds easy. I would be lying if I said I don't become shouty mum sometimes.
DS, 9, is like a sloth in the mornings and makes me want to scream sometimes but we normally manage to be out of the door by 8 ish, all in tact and all presentable.
Good Luck
. Once a routine is established it becomes second nature!