Hey Tamara!
My husband and I actually take our kids out every year for a trip. We speak to each of the teachers first and ask them if they want to send makeup work with us for the kids to do while we are vacationing or if they want the kids to write a trip report to present to the class. Don't worry about approaching them with guilt, just tell them these are the family plans, but school is important to the family, too, so lets work together so the kids don't fall behind.
We also send a note to the Office with a 'Life is short & we are going to Disney World!" opening, including dates and how we've already notified the teachers.
We've found that the Teachers have all been supportive and happy for us...and jealous, of course!
In years to come, your kids won't remember missing a few days of school, but they will always remember that trip to Disney World!