"They let the children drink coffee."
Translation:Pozwalają dzieciom pić kawę.
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"Pozwolić" is perfective, "pozwalać" is imperfective. Perfective cannot be used in the present, only in the past or future tenses. It shows that the "allowing" is complete. "Pozwolili" = they allowed, it's allowed, the end. That's probably not a very good verb to show the perfective/imperfective difference on. But then again, being level 11, you probably already know quite a lot about it :)
Therefore "pozwolą" would mean "they will allow", while "pozwalają" is "they are allowing right now" or "they do allow generally".