asalam alaikum wr wb,
There are Islamic children's books available for all ages. I used them to help my son understand Islam and it's teachings. He is ten and alhumdulillah now prays salah.
Simply telling a child to pray if they don't know anything about deen is impractical. They need to know why they should pray. They need to be taught about who Allah is and about the blessings He has given us. Point out the things Allah created and how they benefit mankind. For example, tell them about rain and how crops wouldn't grow without it and we'd have nothing to eat. Expand their minds so they start thinking for themselves.
Use simple examples so's not to overwhelm the child. Always point out the Mercy and Kindness of Allah. They need to be taught to love Allah first. Do not frighten them by saying that Allah will throw them into Hell and stuff like that. That can make the child think Allah (naudhu billah) is unkind and that will have the opposite effect.
Once they become aware of Allah, His creation and blessings, start deepening their knowledge. Tell them that Allah wants us to go to Jannah. Explain what Jannah is and what it contains. Tell them that Allah promised that we can have anything we wish for in Jannah. Let them feel your desire and excitement of wanting Jannah. I used to and still keep saying infront of my son that I can't wait to go to Jannah as it'll be so beautiful and there will be this and this and this etc..... Alhumdulillah, now he desires it too. Point out the rivers of milk, honey, the fruits, the roasted birds, lasting youth, beauty, no fatigue, no illness/pain and eternal life. Remember, you can only get out of something what we put into it.
Once they start loving Allah, take them to the next level. Don't make salah sound like a burden. Say that it's amazing that despite everything Allah has given us, all He wants us to pray only five times a day. Say that's because Allah is merciful, otherwise He could've told us to pray 50 times a day - Yet He didn't, but still will give us the reward for 50 prayers. Say, "Whao imagine we had to pray 50 x a day!" Be a bit dramatic and looked relieved. ;D
Once they've taken in all that, begin telling them that it is a sin to not pray. And that we must earn points to get in Jannah. Tell them life is like a game. You gotta earn the highest points to win a game and it's the same with life. Keep it simple. Next tell them how to increase the points by doing other good deeds. Tell them that by not praying and doing bad deeds we lose points. You have to think from a child's point of view when dealing with children.
Almost finally, be patient. Read them Islamic stories and keep repeating the benefits of being a good muslim. I honestly don't believe in using fear to get a child to pray. Leave the punishments until after they have began to want to please and love Allah for being Kind and Merciful and it won't affect them in a negative way.
Lastly be a good example yourself. When doing a them a favour, or a good deed, remind them that Allah will reward you for it. Similarly, when making a mistake, say, "I was wrong to do that, may Allah forgive me." Sometimes adults think it's above them to apologise to a child. How can children learn humility if they don't witness it? If I am cranky and lose my temper with my son. I apologise immediately and ask him to forgive me. As a result when he's being naughty and he can see I'm not pleased, he will apologise to me.
It's the small things that make the biggest impact. Standing there with a loudspeaker giving orders is futile. It's the gentle rain that feeds the crops - floods only destroy them.
wa alaikum asalam wr wb