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Singapore - if have children, should go to Singapore Zoo or Night Safari (depends on the age of your children, Zoo is better for younger, and Night Safari is better for older)
Can also go to Santosa, swim with the dolphin (need previous booking)
Best way to go to KL from S'pore is by bus - can ask hotel to arrange for you. Not sure about pricing but shouldn't be expensive.
KL is a big city, don't think there would be a lot of interesting thing for children. Probably some city tour.