I used to do that with my parents when I was young. But mostly on a beach but I have seen some spots in Mexico that do combo snorkel and dive trips but I don’t know if they will be willing to supervise your children since they are under 18.
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Not to pounce on something nit-picky, just conversational general info, but, the splendid toadfish is actually found outside Cozumel. They love to claim it's unique to Cozumel and only found there, but we also used to see them on the reefs up in Cancun.
I used to do that with my parents when I was young. But mostly on a beach but I have seen some spots in Mexico that do combo snorkel and dive trips but I don’t know if they will be willing to supervise your children since they are under 18.