Start when they are babies by following these rules:
1. Feed them only when they are hungry, not according to a schedule.
2. Give them as much as they want, no more and no less.
3. Respect their likes and dislikes, and never force feed.
4. Don't give food as a reward or withhold it as punishment.
5. Avoid talking about eating up as "good" or leaving food as "bad".
6. Never give food just to keep them quiet when they need your attention.