Rema, I’m not familiar with the exact Halachos involved, at all. But as far as being mechanech little kids, they’ll gain a lot more by being told that they’re not allowed to touch. And even Morah or Rebbe are not allowed to touch! By all means, if you have the opportunity, let them visit a Sofer and look at his quill and parchment. But teaching them respect and awe for Tashmishei Kedushah will accomplish more than allowing them the tactile sensation you’re inquiring about. Infants and very young children learn a lot from sensory input, including touching things. But a child old enough to be introduced to a Sefer Torah is old enough to hear what you have to say and be impressed with the information.
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