I wanted to teach my youngest how to set up my coffee cup with the creamer and all in the cup. I've done this with my oldest two kids but my youngest just doesn't want to help me make the dreaded COFFEE!!! I was determined to get her to want to learn, so I've tried everything but stright up reward or punishment you get her to want to do this with me.  I will not punish her for not doing it because its not really a chore, but a task where I get to talk with my kid for about 10 minutes while my water boils.  
     The next time we were at Dollar Tree (our dollar store) I saw these rolled pastry stirrers & I thought "yeah now that's a treat!"  I went to make coffee but I grabbed the stirrers. Showed my daughter and I said, "help me & I'll help you," next thang thing I know she's helping me make coffee, I grabbed her a small glass of milk and when we were done she stirred her milk and me my coffee. We don't buy these stirrers often but she helps more often even if we don't have a reward to give her. 
    To teach your kids a task (non-chore):
Never punish
Be patient
Try over and over
Use reward as a last resort
Try, try & try again
Smile, kids love this