Of course you can teach your child to draw!!! And, yes, your child can LEARN to draw. Some children are uniquely gifted by God with drawing, but all children can acquire basic drawing skills.
Art also encompasses much more than drawing. You may have a very creative learner who finds ways to express his artistic style without drawing. Your child may be an artist, just not a sketch artist.
I encourage you to let your children explore art and to teach them art history, too!
Squirrel Head and Body 1
Squirrel Arms, Legs, Paws 2
Squirrel Drawing without Detail