In most routers you can establish a black list. I know the list goes on and on but it’s a start.
if your kids are browsing to adult sites, they also know how to go around it. Proxies, i-frames and VPNs will do the trick. I had a client who’s friends got together with their friends and made a “Spank machine” which was a computer off the network that they would teamviewer to.
The solution must lie between the chair and the keyboard.
There are plenty of how-to's, as I confess I haven't done it in a while, and I don't think I ever did in Win10.