I think the ownis here needs to fall on you - afterall you're the grown-up.
1. Work on establishing a bedtime routine. Kids that age should go to bed no later than 8pm, pref. 7:30pm. On the weekend, see if you can have them go without naps, run them ragged (to get them good and tired) and then stick with a bedtime routine. After dinner lights should be low, TV and everything should be off, kids should get a bath, snack, brush teeth & potty, read 2 books and that's IT. No more engagement...do not talk to them. Walk them back into their rooms and put them in bed without any discussion or engagement. Do it over and over and over again, don't break. Eventually they will give up, knowing that you're not going to talk to them or give them a drink, etc. It really does work, just be tougher than them.
2. You're up plenty early and already doing everything right by having their things laid out the night before - good job!
3. In the morning, put breakfast on the table and let them eat for 20 minutes. Whatever they eat, they do, and then they are done. If they finish "in time" give them a sticker. Keep it SIMPLE. Oatmeal, cereal and bananas, etc. It is not their decision, it's yours. Pick something and they both get the same thing.
4. Help them get dressed, brushed, etc. If they do a good job, sticker, if not, get them "done".
5. Get their shoes, jacket, etc. and get them in the car.
Then have some incentives in place they can earn when they have enough stickers. Maybe 10 stickers = an extra story for that child. Then next 10 = you pick the dinner the next night. The next 10 = a new book or "special" alone time with mom or dad (running errands and maybe a sucker).
Make the "incentives" good things - not candy. Your young children are going to associate sweets with feeling good instead of being good to just make you happy and get your TIME.
If you need to, set time limits for yourself to get out of the house on time. I have a digital watch. I set it for 5 minutes BEFORE we need to be out the door for the school bus. That means, the kids need to be getting dressed when it goes off, not brushing teeth, not playing, etc.
Finally, get Daddy involved. Have him say things like, "I expect you to be good and listen to your mother while I'm gone." When he calls at night, he should ask them how they are behaving, getting done in the morning, getting out the door, listening to mom, etc. Then when Dad comes home from his trip, the best helper should earn some Daddy Alone Time. This is in addition to the stickers. Stickers are for them. Daddy is rewarding the best helper for helping Mommy while he's gone. My husband always makes sure the kids know that they are expected to pitch in whenever he's gone.
Don't make "staying up late" a reward. That only teaches them that going to bed on time is a punishment of sorts. If you have a late night due to the holidays or a special occasion make sure your kids know it's an exception and that they may need to nap or rest-time (like reading or playing quietly in their rooms) the next day.
We've told our kids they only grow when they sleep. That your body is so busy all day playing and learning that it CAN'T grow. So good sleepers grow at nighttime because their bodies are getting the much needed rest they need. Our kids will actually wake up some mornings saying, "Mom, my pajamas are too small! I must've grown last night since I slept so good."
Best wishes Mama. I'll look forward to your update.