Crafts, I thought of one more thing that may help you with your outlining, it's something that took me a while to get the hang of but it might help - when you're "drawing" the outlines and the detail lines, use your whole arm to do the drawing. Hold the bag in your hand, hold your wrist still, and move your entire arm from your shoulder to get a smooth motion.
When I first started, I practiced on a practice board from time to time, because I could just pick it up when I had a few minutes and not have to bake the cookies, LOL! Put some icing in a bag, and draw some curves and straight lines on a piece of paper, then try to pipe lines over them to see if you can follow the lines. I would sometimes have a sheet of paper with all sorts of lines and curves and circles piped all over each other, but it helped me to get more accurate with my outlining and overpiping.
I know you have little ones (unless I'm confusing you with someone else, which is SOOOO easy for me to do
) and this way you could just do a bit at a time, then put it away for a while and think about how it went and what you could do differently.
Just don't give up! Your designs are good, and with practice you'll get them to look exactly the way you want them to!