Start them early, teach by example, give them a variety of choices, mix the less liked ones with ones they love ( like peas and corn, mine don't like peas) prepare it a variety of ways (mine don't like carrots cooked, they do like broccoli and cauliflower cooked or raw, they only like spinach cooked), and no desert until all the veggies are gone.
My kids always loved their veggies also. Probably because I never asked them what they liked or what they wanted - the meal was served the way I liked it. I added things to them like seasoning, butter, sour cream or a little mild Green Mountain Gringo salsa. Mine loved broccoli the most (if you can believe it) and asked for it by name now and then.
I think the secret is eating together and enjoying your own veggies in front of them. Raw baby carrots in peanut butter - yum!