I think the only way is to keep a reference to the ChildProcess object returned by spawn, and kill it when you exit the master process.
A small example:
var spawn = require('child_process').spawn;
var children = [];
process.on('exit', function() {
console.log('killing', children.length, 'child processes');
children.forEach(function(child) {
child.kill();
});
});
children.push(spawn('/bin/sleep', [ '10' ]));
children.push(spawn('/bin/sleep', [ '10' ]));
children.push(spawn('/bin/sleep', [ '10' ]));
setTimeout(function() { process.exit(0) }, 3000);