Raising kids without the fear-based religion I grew up with

Coming from a really strict Christian background where God was basically fear and punishment. I don't want that for my kids. I want them to know Jesus as love and grace, not as a cosmic cop waiting to catch them doing wrong. My parents think I'm going soft but honestly I think my faith is stronger now. Anyone else breaking that cycle? How are you teaching your kids about God differently than how you were raised?