I would like to know this as well for sure, but this was how I was planning on teaching it:
Have my kids stand close with treat. One calls Kato, he gets a click and atreat, so on and so on. After a while, I would add their names before they called him. THEN, I would just say their names (no more calling him) after I have noticed that he was looking/going in their direction with only their names.
I really wasn't sure if this would work, only my Dane learned this by herself (probably in much the same manner) after years of living with us.