In general, children are allowed to express their creativity with chalk on streets and sidewalks, as chalk drawings can be washed away by rain or water and typically do not cause any permanent damage.
However, children should take care not to obstruct pedestrians and should preferably draw only on play streets, sidewalks, or other safe areas.
Please note: Local laws and regulations may vary. In Germany, for example, the District Court of Wiesbaden ruled (February 23, 2007, Case No. 93 C 6086/05-17) that chalk drawings on the sidewalk in front of rental properties are considered normal use and must be tolerated by landlords.