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I've read the descriptions for some of the Hannah Montana games (which it seems could be appealing to their ages, and meet what you're asking for), and I came up with this: http://www.xbox.com/en-US/games/h/hannahmontana/ (It's evidently music-related, but doesn't actually allow you to sing.)
I can't think of any others at the moment that meet the criteria that you've set, though. There doesn't seem to be too much of a shortage of games in which you can sing (the Rock Band series as well as the newer Guitar Hero games both come to mind), but many of those games are rated T, unfortunately.
My only recommendation would be to, if you're comfortable with it, of course, look at some of the T-rated games (and I can see that you've already played Guitar Hero 5, and The Beatles: Rock Band) and first check the songs and find which ones you are comfortable with allowing your grandchildren to play, if you haven't done so already.
Hope you find what you're looking for!
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