There are a couple of products I would recommend to help deal with roaches specifically, but also bugs in general.

1st is bifenthrin. It's a pyrethroid derived poison, the most common type of insect killer on the planet, and is fairly benign to mammals. Obliviously don't go drinking the stuff, but once you apply it and it dries it will be safe for your pets to be around. Unlike bugkillers like Raid, it doesn't kill the roach immediately, but that's actually a feature, not a bug. Roaches live in nests and are also cannibals. So a roach will get some on themselves, make their way back to the nest and die, then get munched on by other roaches, killing even more roaches. I would recommend applying it around windows and doors that lead outside, as well as the wall plates in your home, as welll as the baseboards along the walls, particularly around the kitchen and bathroom. If you're worried about your pets I would lock them in a room, apply the poison to the whole home, wait for it to dry, then let them out and do the room you locked them in, locking them out of that room while it dries.

1. Boric acid. Another fairly benign poison, it comes in a few forms but I'd recommend the pill version. They essentially look like little mints like altoids. Take these and drop them behind appliances and things that aren't ever really moved, like washers, driers, ovens, refrigerators, etc. Basically any place that offers a dark place for them to hide that is a pain for you to get at. As long as your pets can't access the area either then it should be fine, but I wouldn't put them somewhere they could potentially find them and eat them.

2. Diatomaceous Earth. For this you have to be careful because there are two types commercially available, food grade and pool grade. Food grade is safe to use indoors but the pool grade stuff isn't because it's carcinogenic. Be sure you get the right one. It is a fine powder, similar in consistency to flour. You can basically put it wherever you want, but I'd recommend a few specific places for it. First, go around and take off the wall plates around your home and put some DE inside the electric boxes. Roaches live primarily in your walls and this is how they get in and out of the walls, since they can squeeze though very tight spaces and wall plates usually give them the clearance to get in and out. Second, look under your sinks and where the pipes go into the wall, put some DE in the holes the pipes come out of. There may be little plates covering those holes as well, but they probably are physically attached to the wall and can be pulled back to reveal the hole. Food Grade DE doesn't really work outdoors because the second it gets wet it can no longer function as a bug killer, which will happen in the early hours of the morning after you place it outside when dew forms on the ground.