意思不同, 都可以
I am going to give them to the children我们打算把冰激凌送给孩子们( give sb. sth.= give sth. to sb. 把某物给某人)
I am going to take them to the children 我们打算把冰激凌带给孩子们
take sb./ sth. to somewhere 带某人/ 某物去某地