Hi, Marissa!
Standard guest rooms at Walt Disney World in general can sleep four guests plus one guest under age 3 if sleeping in a pack and play.
Some Moderate and Deluxe Resorts can sleep up to 5, plus the pack and play. Please note that additional charges may apply when more than two adults occupying one room.
So here is where I toss in my two cents! Can you all stay together in select resorts? Absolutely. Would I suggest it? Probably not. With four adults and two kids, it is going to be quite "cozy" with all of you together, with just one bathroom to share, and not a whole lot of room for the "stuff" that just accumulates when traveling. If I were planning this (and I have planned many, many trips with my parents and my kids) I would opt to select a less expensive resort and request two connecting rooms. This way, if the little ones want a nap or go to bed early, the adults can be in the connecting room without disturbing them. Also, when everyone gets up in the morning, there is no waiting around for the bathroom.
There are economical suites if you prefer.
Disney's Art of Animation and
Disney's All-Star Music both offer Family Suites that sleep up to 6, have a separate room with a queen bed, 2 full bathrooms, and a kitchenette.
Either connecting rooms or a Family Suite will just give you some personal space that you will need and want after a long day in the parks! I hope you find a room that suits your family just like magic. Good luck!
Cathy