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Like in http://grammar.about.com/od/tz/g/zeroinfinitiveterm.htm The verb is 'regarder' so the infinitive 'jouer' dosen't require a prepisition e.g. à or de Still a bit odd as I would expect '"J'aime regarder les enfants à jouer." '
Someone said up above (hint: srsbzns) that both forms of the sentence mean the same thing, despite where the object falls, So technically, "J'aime regarder jouer les elephants" and "J'aime regarder les elephants jouer" are both correct. I'm not a native French speaker though, so I don't know which one would be more common to use, but I hope I answered your question. :)
Maybe upping the level of creepiness but is this correct.
j'aime regarder les enfants jouer mais les enfants ne m'aiment pas les regarder jouer
I like to watch the children play but they children don't like me watching them play.
Disclaimer: I'm just playing with the words not the children.
I don't think there is anything 'creepy' about this sentence in itself, despite the sinister interpretations that many commenters here seem determined to make.
As to your question, I think it would be 'J'aime regarder les enfants jouer, mais les enfants n'aiment pas que je les regarde', but I am not certain.
You could have an alternate phrasing "J'aime regarder les enfants qui jouent" (with a subclause, and the pronoun "qui" acting as the subject of the verb "jouer", prompting it to be conjugated). This is a French form, actually pretty common, with an infinitive.
"Je fait travailler mes élèves"
"Je vois voler les oiseaux"
"Je fais sécher mon linge"
"J'écoute les musiciens jouer"