I highly recommend a male BCI or a male Dumerils. Either of these should stay around 6-7 ft at their max and both have superb temperaments and tolerate handling very well. Husbandry for either of these is quite basic - about the same as a BP.
A Hog Island male would be another good choice as would a Tarahumara Mountain boa. The T-mtn boas, even females, will usually max out at no more than 4-5 ft!
Some folks have found both BRBs and Nicaraquan BCIs to be fairly nippy, so I might steer clear of them.
One thing to keep in mind is that nearly any species of boa will likely get too large for young children. I assume that a parent would be present anytime one of your kids would want to interact with the snake, but even if you're there, most boas would be too large for a young child to hold by himself - you'd have to help him hang onto the snake. Just a friendly tip.
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