I usually have about 4-5 hours of time after the kids go to bed. During this time I either program, talk with my wife, work on mixing records for clients (I'm also an audio engineer), compose music, rehearse with my band, research interesting things, etc.
If you are with a partner, try offering to watch the kids and suggest they do something enjoyable for themselves. This not only gives some quality time with the kids, it also makes it a lot easier to ask for time to do the things you want, or even have your partner reciprocate.