It’s worse that that. You’re also required to provide shelter for your kids, and feed them every once in a while, and get them medical care if they need it. You can go to jail if you don’t do this.
If you can’t afford to do it on your own, then you have to jump through whatever hoops are required in order to get private charity or government assistance or both. If “freedom” (in the Libertarian sense) is a priority for you then you should think twice before having kids.