... enjoy growing up, learn new life skills, innovate and explore?

Yes, but use another word for "innovating."

Thanks, Punkey.

What's wrong with 'innovating'? Do you think 'inventing' works?

Your suggested alterations are possible, but would change the meaning.

Your first sentence means this:

Do we want our children:
to enjoy growing up,
to learn new life skills,
to innovate and [to] explore?

The second and subsequent occurrences of 'to' can be omitted as in your sentence.
Do we want our children to enjoy the first thing listed, growing up, and do the other things, enjoying them or not?

However your suggested alterations would change the meaning to this:

Do we want our children to:
enjoy growing up,
enjoy learning new life skills,
enjoy innovating and [enjoy] exploring?

The second and subsequent occurrences of 'enjoy' can be omitted.
Do we want our children to enjoy all of the things listed?

No, and why?

Do we want our children to enjoy growing up, to learn new life skills, innovate, and explore?

New comma for speedreader who might otherwise suppose some intimate conn between the two words