Most coworkers with kids I've spoken with complain about costs of daycare, babysitting, and Montessori schools. We pay for none of those as they aren't necessary. If even one parent works from home, it's a solved problem. If both do not, evaluate the costs. Many times, you actually lose money by both parents working.
I have a child and we do fine on one salary. Would love more, but either my aging body or god one has determined that would be decidedly more expensive.
ETA: Anyone on the fence who wants a kid - go for it. Don't try to keep up with the Jones' or try to budget them out. Kids are awesome. They're little blank slates who don't need much more than love, attention, education, and sustainance. If you keep waiting for when it's right, it'll never happen.