My parents didn't discuss sex at ALL, so if I did know about sex toys as a child, I sure didn't learn it from them. I don't remember when I learned about them, actually. I just remember buying my first vibrator at Spencer's at age 15 with no questions asked.. O_o
I remember my mom talking about how they're used by lonely people when I was a kid -and considering that I'm consistently single, she may have been on to something... by the way, I'm totally kidding about that last part.
I also heard about them more in detail when I was in middle school. I just remember a male friend of mine telling me how sexy it was that one of his favorite porn stars used them.
My friends and I read a strange (to us) article in someone's sister's Cosmo, when we were in our early teens about masturbation and sex toys. We read it, and spent the entire time saying, "Ew, gross!" (but, none of us had even had sex yet, I think we were about 14 at the time, could have been even younger) It had occurred to me that people "did things like that" but I'm not sure where I got the idea from. Then about the same age, my cousin and I found a vibrator behind the couch at my grandma's summer house. It belonged to one of my older cousins, and my mother didn't even know what it was. We did, and we were screaming and would not pick it up. My mother finally made me get some rubber gloves and "get rid of it." I told the cousin I suspected it belonged to and she was wondering what had happened to it. My mother didn't believe me when I told her what it was. She thought it was a tooth brush case and thought my cousin and I were being silly by refusing to pick it up. We had to tell her what it was....
My parents were really dedicated to us enjoying a childhood for as long as possible. We were shielded from a bunch of stuff. While I didn't always get the jokes at school or fit in with more mature classmates, looking back from this perspective I am glad I enjoyed my 'innocence' as long as possible. Can't get it back now!
I think I was actually an adult (or at least a late teen) by the time I ever heard about items being made and sold specifically as sex toys. Before that, however, I had heard of a certain food object being turned into a sex toy. When I was in high school, an acquaintance related a story about a girl at school who was allegedly caught drunkenly using a pickle in a back bedroom at a party, but I found it too difficult to believe at the time.
I wasn't taught about sex toys until I was a teenager, and my friends started buying them. Of course, I didn't have my first orgasm until I was 18, and that was thanks to a close friend who bought me my first vibe.