In order to address this "dilemma", I came up with "Ready, Set, Go!" and some matching gestures.
In order to send my kids on their way, I end my directions by saying "Ready" and hitting both hands on my lap.
The kids reply by saying "Set" and clapping their hands together once.
We then all say "GO!" and raise our hands in the air.
It's all very fun and gives us an energy to get into the next project as soon as we can.
Download the Ready, Set, Go! pdf printable here.