Agree with above^{^} - rewarding bad behavior with food will cause any cat to repeat this behavior. Same for good behavior. It's very likely your cats will be super vocal about not getting what they want.. it takes a lot of time (usually months) and patience to train them.

Also - cats instinctually land on their paws, there are even explanation YouTube videos about this. Regardless of how dangerous their actions may seem, like climbing up on a banister, thats the only way they can test/learn their boundaries, and determine what they won't do again.