The layered bed
Make the bed twice. From the mattress up: waterproof protector, fitted sheet, washable underpad, second fitted sheet. When an accident happens you pull the top sheet and pad, and a made bed is already underneath.
For adults, a full-width overlay pad with tuck-in flaps replaces the second sheet and behaves the same way. The point is that no one is remaking a bed from scratch in the middle of the night.