I struggle with the charts too – none of them seem to quite do what I want – but this seems to produce what you’re after:
Select one of the children and then select ‘Vertical Pedigree Chart’.
Set the Generations to 1, and select ‘Include Siblings of Primary Individual’.
This should give you just the two parents and their children, then you can play around with other settings to make it fit the way you want, eg:
On the ‘Advanced’ button next to Layout there are options for Horizontal and Vertical spacing, which you can use to make your chart fit the page, or alternatively on the Spacing button (under Layout) there are some pre-set options (collapsed, squished etc). You can also use the little icons under ‘Vertical Pedigree Chart Options’ to choose things like landscape or portrait, font size/colour etc.
The layout isn’t perfect as normally the parents would be centred, but otherwise this should give you what you’re after.