You can send messages to your children using child.send() and listen to messages from children using child.on('message', () => {...}). Vice-versa, you can send message from child to its parent process using process.send() and listen to messages from your parent using process.on('message', () => {}).
Here is the link to the full documentation.
The same goes for cluster module: https://nodejs.org/api/cluster.html#cluster_worker_send_message_sendhandle_callback
if (cluster.isMaster) {
const worker = cluster.fork();
worker.send({ some: 'data', arr: [1, 4] });
} else {
process.on('message', data => {
//do something with data
});
}