You could also just work less, or let yourself spend less time and energy on your kids.
I get that most people recoil in horror at the latter one. I think they're silly. The fact of the matter is the world is a safer and more prosperous place than ever before. You should be able to invest less into your children than your parents did before you and still have them lead happy lives.
If you have a child, and your own life isn't a pile of misery, you can be reasonably confident your kid's life won't be either. After all, you grew up in a poorer world than they did. But if you hold back on having children because you fear you can't afford to send them to Yale, or buy them all the Steam games they ever wanted, you're probably not saving them from a life of pain, you're just depriving the world of another soul which could've had a beautiful experience here.