S.C.
Probably not exactly what you're looking for, but Williams-Sonoma has free and low cost classes. I took my then 6 year old with me to several of their free technique classes held on Sunday afternoon. It's not hands on (not sure if their other classes are), but you get to see some techniques, try the food and get recipes to take home. There's also places like the Kids Cooking school (can't remember the exact name) at Preston/Royal in North Dallas. I don't know if they have mom/child classes, but worth a look.