I'm not an English native speaker and I don't live in an English speaking country so I may miss something. Doo Doo sounds fine to me, very childish.
I just realized that it's strange that there would be a slang term only used by children, but that remained in use by generation after generation of children over a period of at a minimum 50 years but probably much longer.
I'm not a parent, but I suspect that it's a word used by American parents during potty training, hence its longevity.