If you travel from and return to Kansai-airport within 14 days, an ICOCA & HARUKA package can be a good choice.
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http://www.jr-odekake.net/en/icoca-haruka/Note that a Haruka does not stop at Osaka Station.
Depending on the location in Osaka City, you will get off your Haruka train at Tennoji.
Unless you turn back or exit the designated area, your ticket in the I' & H' package will be valid even after changing trains.
How about child price? How old will the child be at the time of the ride?
A child who has not reached 6 can board a train in a non-reservation car without fees.
If he/she who has not reached 6 and an adult shares one reserved seat, he/she can board a Haruka train without fees.
However, if he/she solely uses a reserved seat in a Haruka train, both a base fare and a Ltd. Express charge are required even for an infant.
Basically the child rate is the half of the adult rate.
Child fees applied to those who have not reached 12 are like the following.
(These fees might apply also to elementary schools pupils of 12 years old.)
Kansai-airport -- Shin-Osaka
: Child base fare is 660 yen.
: Child Ltd. Express charge is 570 yen without reservation / 630 to 830 yen with reservation.
Kyoto -- Kansai-airport
: Child base fare is 910 yen.
: Child Ltd. Express charge is 570 yen without reservation / 630 to 830 yen with reservation.
A Ltd. Express charge is not collected via ICOCA system; you will buy a separate Haruka ticket for the child.
You can try making seat reservation and buying tickets for the two Haruka trains together.
Child ICOCA cards are available only at person-to-person counters; some individual information on the holder child needs to be notified when you get one.