asian culture impose too much boundaries on ourselves
to certain extend, it's ok to bath with kids, even totally naked
but must be clear what is the objective of doing so
its a good opportunity to teach & let kids understand the difference of male & female body
at the same time to teach them to respect one's body, which means there are some parts are not allowed to touch for stranger or even within own family members of different gender

it's an earliest stage of sexual education & self protection awareness