You can use str.format() instead:
>>> myname = 'tom'
>>> mykids = ['aa','bb','cc']
>>> mystring = 'hello my name is {} and this are my kids {}, {}, {}'.format(myname, *mykids)
>>> print mystring
hello my name is tom and this are my kids aa, bb, cc
Note the use of *mykids which unpacks the list and passes each list item as a separate argument to format().
Notice, however, that the format string is hardcoded to accept only 3 kids. A more generic way is to convert the list to a string with str.join():
>>> mystring = 'hello my name is {} and this are my kids {}'.format(myname, ', '.join(mykids))
>>> print mystring
hello my name is tom and this are my kids aa, bb, cc
>>> mykids.append('dd')
>>> mystring = 'hello my name is {} and this are my kids {}'.format(myname, ', '.join(mykids))
>>> print mystring
hello my name is tom and this are my kids aa, bb, cc, dd
The latter method also works with string interpolation:
>>> mystring = 'hello my name is %s and this are my kids %s' % (myname, ', '.join(mykids))
>>> print mystring
hello my name is tom and this are my kids aa, bb, cc, dd
Finally you might want to handle the case where there is only one child:
>>> one_kid = 'this is my kid'
>>> many_kids = 'these are my kids'
>>> mystring = 'hello my name is {} and {} {}'.format(myname, many_kids if len(mykids) > 1 else one_kid, ', '.join(mykids))
>>> print mystring
hello my name is tom and these are my kids aa, bb, cc, dd
>>> mykids = ['aa']
>>> mystring = 'hello my name is {} and {} {}'.format(myname, many_kids if len(mykids) > 1 else one_kid, ', '.join(mykids))
>>> print mystring
hello my name is tom and this is my kid aa