It can be done, but, you will need to use cheats.
If starting a new game, place adult versions of you teenagers in their home. Start playing. Testingcheatsenabled true. Click on sim and edit in CAS. Change the age to teenage and adjust clothing if you wish. Do this for each of the sims in your household.
Your teenage sims will need to attend school and will not be able to take fulltime employment. If you have WA they can travel but will not get the option to buy a holiday home if they make it to level 3 in any town. Otherwise, they play very well and can buy property in their home town Sorry, I have not tried buying a resort with a teenager.
If your sims are in an existing family, you will have to age one of them up to adult before moving the parents out. Then use the cheats to return that sim to teen.
I haven't yet tried to have a family with teens and a child, so, sorry don't know if in this circumstance the child would be taken by the social worker. (Must try that sometime.