I have a restraining order against me am I still able to see my kids and if so how do I go about doing that

There are two vastly different questions here. In the title you ask about signing over your rights and in the body, you ask about visitation.

First, you are laboring under a fantasy if you think you will be allowed to sign over rights. Not going to happen. Only a court can terminate rights and they won't to let a parent out of paying support.

For the second question we need to know WHY you have a restraining order. It may or may not allow you to see your children. It may require supervised visits. So first we need to know why. Finally, ANY question on law needs to include your general locale as laws vary by area.