There’s a version on A Child’s Prayer that has a signing ‘parent’ intro. I found it on Barlow Bradford, HERE.
The Mormon Tabernacle Choir sings it in the first video in this compilation:
Night time, quiet time,
Loved ones gather at day’s end.
I hold them close, I help them know
That God will always be their friend.
Then just before I say good night,
My little one kneels by my chair.
I close my eyes, I dim the lights,
And listen to this simple prayer.:
Heavenly Father, are you really there?
And do you hear and answer every child’s prayer?
Some say that heaven is far a-way.
But I feel it close a-round me as I pray.
Heavenly Father, I remember now.
Some-thing that Jesus told disciples long a-go:
“Suffer the children to come to me.”
Father, in prayer I’m coming now to thee.Pray, he is there; Speak, he is listening.
You are his child; His love now surrounds you.
He hears your prayer; He loves the children.
Of such is the kingdom, the kingdom of heav’n.