What is the fastest way to get my daughter and grandchildren to enter the US, they had to leave their home in?

Southern Mexico because of an abusive father, they do not have a passport are in grave risk where they live alone in Tijuana, my wife and I support them and would like to have them free to come to the US and visit us. My daughter works in Tijuana and the grandchildren are in school. We would like to sponsor them for weekend visits and summer vacations.