"Onze vader leest ons kinderboeken voor."
Translation:Our father reads us children's books.
From "voorlezen" which is a separable verb and which means to read something aloud while other people listen.
I don't think so. I think the separable verb needs to wrap around its object.
te voorlezen = to read aloud, ik lees een boek voor = I read a book aloud or I read aloud a book.