I have always had my kids help around the house, and the chores rotated so that they eventually learned how to do it all. They all know how to do their own laundry.
They have been through personal financial classes by the time they graduate and deal with banks all the time helping their dad in our business.
My oldest ones could even be handed a newborn and feel like a pro! When we adopted our third daughter, I had a newborn, 9 month old, 2 year old, 6 year old, 11 year old, and 13 year old. They had to help, it was necessary. The 13 and 11 year olds even got up with babies during the night, and the 6 year old learned how to change diapers. Our youngest three will go through babysitting classes (because they asked to).
As far as cooking goes, my oldest dd cooks as well as I do, and bakes desserts better than I do. My problem teaching anyone else is that they ask her to do it for them! I need to work on that. Everyone can cook enough to survive if they had to (but on mac and cheese and scrambled eggs).
It is more work to teach your kiddos how to do things than it is just to do it yourself, but it pays off in the end. If I leave the house for a couple of days, I know things will be handled well while I'm gone. I won't come home to a mess or chaos. I know that when they leave home, as two have already done, they are capable of running a home.