How, exactly, does a person make disciples of children? Does that simply mean we need to teach them the truth about God, the Bible, and following Jesus? Or is there more involved?

Of course, teaching them the truths of Scripture and our faith is necessary and important. But in the journey of being transformed into followers of Jesus, who are like Jesus, requires more than learning truth and believing it. It also involves training our hearts, our desires and loves, to be directed towards God, his will, and his way. 

This is one of the reasons why parents have the primary task of training their children as disciples of Christ - no one else could do it as effectively!