Dr. Who may have started as a kids show, (more accurately I think a family show, but I’d say there’s way too much scary and pseudo erotic stuff now to make that claim.)
There are kid’s sci fi shows/movies that feel like science fiction. Lost in Space. ET.
I don’t need to understand the science, but I want it to feel like it’s in the real world. And yes I know that Arthur C. Clark said “Any sufficiently advanced technology is indistinguishable from magic.” Sure Star Trek has science: Scotty “Ye Cannae Change The Laws Of Physics.” 
Warp drives and teleporters may never exist, but a lot of the stuff they invented does exist now. I liked BG until it got un-sciency. Angels? Really?
I read some sci-fi that combines it with definite fantasy elements, but I think it’s really hard to pull off.