Yes, and by "city" I mean a walk able streetcar neighborhood. The parents can commute by foot/bike/bus, the kids can get around by foot/bike/bus. Lots of town are also structured like that, but they're not close enough for enough employment for the parents. You can have both: a small neighborhood feel with enough density for a quality car-free living and access to many employers in "cities".
Yeah walking to work would be pretty uncommon, though you can commute into the city. My comment was mostly about kids walking to school / into town and low crime. I don't think that's too uncommon for suburbs served by train in the US. College towns are pretty good for this as well. They can be costly for houses though.