So gifts under $14k to children won't be taxed, but anything above that will be.
It's not quite that simple. Gifts over $14k where no other exclusion (gifts to spouse, charity, political groups, direct payments of tuition or medical expenses) applies
can be taxed, but only after your lifetime exclusion runs out. You start with $5.43 million. Give $104k to your child, $90k is above your annual $14k exclusion so that part is taxable. $5.43 million - $90k = $5.34 million. You won't owe any gift tax until your future taxable gifts exceed this amount. Then when you die, whatever exclusion amount remains will be subtracted from the value of your estate to determine how much (if any) estate tax you will owe.
For most mere mortals, the gift tax is completely irrelevant. If you give a large enough gift you'll have to fill out a form to track your remaining lifetime exclusion, but it will otherwise have no effect on your finances.