How to add a youth to a parent's my.scouting.org
Any adult, registered or not, can have a my.scouting account. If they registered their child ONLINE, then they were assigned a BSA ID already. It is unusual for a youth to have a my.scouting account; they don't need one.
If a parent logs into my.scouting and selects My Applications, they see their own application, if they are registered, and their child's application. If either are in their renewal period, they will see a renewal button at the top of the screen.
The parent and youth may or may not be linked on the Relationships tab of Registrar Tools. For example, if they were a Lion Adult, the relationship may report that, but it may not report that Maria is the mother of Jonathan. The father or mother relationship must be set up.
If the relationships are set up and if the parent has an email in my.scouting, then notifications should go to the parent who can renew themselves or their children.