Like @AnthonyC said, it definitely depends on the kid, but young kids can have a lot of fun (and learn a ton) in a museum if you do it right.
Tell them stories about the things they’re looking at. When I was 6, my grandfather had me mesmerized by the stories he’d tell in archaeological museums. Ask them to describe what they see and what they think is interesting (or boring) about it. If they want to point at things, they can–they just need to step far enough away that they won’t touch it. If they’re a little older, you can buy postcards (or print out pictures from the museum website) and have them do a scavenger hunt to find those objects/works in the museum.
Those things won’t work for every kid. I have one kid who refuses to go to most museums, and that’s fine. But when I take the others to a museum, it’s not me being selfish.
