Sadly, many pet stores are more interested in making a quick sale than selling you something that would work.
I would suggest bringing the goldfish back. They produce far more waste than a normal fish their size, and are also quite a bit more intelligent than many fish their size, and get pretty stressed if they're in a too-small aquarium.
A couple of ideas for a 10g tank would be:
A
betta (probably number one choice around here). Never mind what the pet store tells you, the betta will need a heater. I would suggest staying away from the really fancy long-tailed ones to begin with. It seems that they are more susceptible to fin rot than the shorter tailed ones.
A few zebra danios. These guys might as well be made of iron. They're not terribly colorful, but they're really easy to keep.
A small school of neons. Regular neon tetras and black neons will often school together (in my experience, at least), so you could have some variety. You could do a proper school of 6 in a 10g.
White Cloud Mountain Minnows (between three and five) would fit in the tank. They're not terribly colorful, but they can be active, and have the advantage of not needing a heater.
You could get a few male guppies. These guys are pretty hardy, and really colorful. I say males because if you add females, they will reproduce and have the chance of overpopulating your tank.
These are just some of the easier ideas to keep in a 10g tank. Since this is for your kids, I was looking more at potential longevity and color than at unique nature.
Good luck with everything and if you have any questions, feel free to ask them.