My kids are also two and four! I value my sleep, so I can't tell you to get up earlier although I am sure that is the first thing most people would suggest.
The most important thing...get them out of their room or the playroom as soon as you can so there is no playing. I have my little ones get up to the table as soon as they get out of bed. (I don't dress them until after breakfast to prevent spills and changing.)
So I get up a bit before them to start making breakfast. This may be where you get distracted, so try to simplify that for yourself too. Instant oatmeal, scrambled eggs and pre-made pancakes (I just make extra batches on the weekends then freeze them and microwave each pancake for 30 seconds to a minute), my kids like instant grits with an over-medium fried egg cut up in it...these things don't take long (nor do poptarts and cereal which we may have once a week).
As the breakfast is cooking, I go in and get them up and to the table. I am there to help feed them if they get pokey. I only feed them meaning I say open your mouth and stuff whatever in. (Other meals they only eat by themselves, doing this at breakfast keeps me from having to shout at them to hurry up.)
Then we go in and my four-year old starts getting dressed in the "layed out clothes" and I dress the two year old, then do the shoes and socks of the four year old, brush hair, grab the backpacks that are sitting by the front door and out the door we go. I also tell them that they can grab one toy to take out the door with them, but only if they are doing what they are supposed to as we get ready. Hope some of these tips will work for you...good luck.