So I printed and laminated some cleaning pages to post in each major room in the house. Each cleaning page includes daily tasks for the room and weekly or deep cleaning tasks. I posted a cleaning page in each room and went over it with the kids (and husband).
I also posted instructions for how to use the washing machine and dryer in our laundry room so that the kids (and husband) didn't have to keep asking. They have learned to read the list themselves (if they can read!) as they clean and are learning what it really means to “clean up”. Below I have attached a PDF of the document I used in our family. Feel free to use it or change it to fit your family's needs!