[Sundae]

If a black comedian told the joke I would laugh without reservation.
Their kids, or their family's kids.

If a white comedian/ person told the joke, you wonder why they are worried about black kids jumping on their bed. What, you think all black kids gonna break in your house and jump on your clean white sheets? You saying black kids got no bed of their own to jump on?? (not really the way I speak or even think, but you know)

So again, it's down to perception.
IF there is a social imbalance, it makes things more tricky. It's not innocent humour any more.

Unless you want to go for the balls-out [Frankie Boyle-style] joke with "How do you stop black kids jumping on the bed? Shoot the house-robbing little MFs as soon as they're over your property line."