Make sure your Apple TV is added to a room on the network controlled by the Home app. For example, you can set up an Apple TV in the kids’ room with a child account, and set up another Apple TV in the living room with both parent and child accounts. The Home app lets you add multiple users at the same time and customize each person’s access by device.
You can also add people to your Apple TV using the Home app on an iOS, iPadOS, or macOS (running Catalina or later) device.