I am 23 years old and I have three kids I have been paying childsupport for 5 years now and we have went to court so I can see my kids but I judge says it's up to the kid's mother and she still don't let me see them but I pay childsupport. What do I have to do to sign over my rights on my kids?

Try doing a search on Terminating parental rights. There are hundreds of answers to that already.

You aren't giving away an old car or TV. You can't give away kids with a signature.