My spidey sense tells me it's probably in violation but it's one of those things that are so close to impossible to enforce that no one would ever get caught, plus if they somehow did they caught (their evil genius 5 year old planted a camera in the room, recorded it and sent it to the publisher) nothing bad would come of it because any publisher who sued a parent into ruins over reading a book to their kid would probably be outcast from society if the media got a hold of that story.

Now, if you recorded that reading alone and put it on Youtube, I imagine that would for sure be a clear cut violation even if you didn't monetize the video. The same goes for reading it out loud in a public place. The only real difference there is you're no longer in the privacy of your own home and there's concrete proof of the violation in a much different context than reading to your kid. Now you're distributing copyright material.

I had something similar come up with one of my video courses. Someone wanted to buy a single license of my course and then teach the course live to a bunch of high school students in Africa. They asked me if they could do this with only 1 license even though a bunch of students would be consuming the content. I said sure no problem and wished them the best and to ask me any questions if there were any issues. I guess that's one benefit of publishing things on your own. You can treat these things on a case by case basis.