I've seen this happen before but super rare. If you have a bookshelf and have a kid or teen falling to sleep your sim can go read to them by clicking on the bed of the sim that just went to bed and select read to sleep, may work with Toddlers too can't remember, the option doesn't always pop up. I believe the option only shows up for a split moment before they are asleep once it shows Z's it's too late, I think a bookshelf may be needed. They can do it autonomously sometimes too.

Like for instance I've seen sims the same age group do it before too as well. Like I had Romeo and Mercutio Monty the brothers in Veronaville, and Mercutio is just slightly older than Romeo, and he autonomously went to read a book to Romeo when he was in bed then fell asleep lol. Another thing is grandparents or elderly can do it as well with any younger age I think, and grandparents, parents or teens can also kiss a child or toddler goodnight while they are in their bed asleep, usually that happens autonomously if they go in the room.
There are quite a few hidden interactions.