If you have a traditional IRA, then any money you take out, will be taxed and penalized 10%
If you have a Roth IRA... In that case, you have already paid the taxes on your original money you invested. So, that part of the money can be taken out and used for any purpose, anytime (including your kids education).
So, say you had put 10,000 in traditional IRA and now that money has grown to $14,000. You can not take any money out of this without tax and penalty
But say you had put same 10,000 in ROTH IRA which has grown to $14,000. Now since this is roth, you can take $10,000 anytime.. you will pay no tax and no penalty. But if you take out the growth portion which is $4000 in this example, then you will have to pay tax and 10% penalty for that.
That said, I will never advice you to take out money from your IRA. IRA is for retirement. You can always get loan to finance your kids education now. But you will never be able to get a loan to finance your retirement.
Also, my personal opinion is that if you take a loan for your kids education, you can ask him/her to pay it in future. This will make your kid spend responsibly when he or she starts earning. But lets say you take money out of your IRA and pay the entire college bill. Your kid comes out of college with no loan.. then whatever he or she earns is going to be spend.. My personal opinion though ! I am saving a lot for my daughters eduction in a 529
All the best.