Tonight as I sat down to fold laundry G walked out. It was after 10pm so he was supposed to be in bed, but then he said "Can I help you with that?" So I said sure. He helped me fold the towels and when M walked out moments later he threw her the washcloths to fold.
When G came across a particularly stained towel he told me "Oxyclean can help this."
"Ok, maybe I'll try that." I replied.
M finished the stack and automatically took it to the bathroom. G, took the kitchen towels to the basket in the kitchen.
Now they are back in their room with the light off, and I'm smiling.