AWK, 116 bytes

END{for(s=" Shark";i++<split("Baby Daddy Mommy Grandpa Granma",b);)print(a=(c=b[i]s)(a=" doo")a a a a a RS)a a c"!"}

Attempt This Online!

Rockstar, 151 125 bytes

cut "Baby,Daddy,Mommy,Grandpa,Grandma" in N with ","
while N
roll N in S
let L be S+" Shark"+" doo"*6+"
"
say L*3+S+" Shark!"

Try it here (Code will need to be pasted in)

Farm, 1157 897^† bytes

^{-260 bytes: apparently only cock a doodle doo needs spaces..}

No sharks on my farm:

cock a doodle doomoocotmoobzzcoucoumewmewmewmewmewmewmewgobblehihihimoopiuarfarfarfarfarfarfarfrouuuleomoopiumoosquealhihihimewmooleoarfarfarfrouuuleomoomoocotmoopiuarfarfarfmooleoarfarfarfarfmoomoocoucouarfarfarfssscoinsssgruntcoinblatcoinssscoinblatcoinssscoinblatmoosssgruntmooblatarfarfarfarfarfarfsssmoogruntmoogruntmoogruntgruntcoincoincoinmewblatmoosssmooblatmoosssmooblatcoinmewblatcoinsssgruntcoinblatcoinssscoinblatcoinssscoinblatmoosssgruntmooblatcotarfgruntsssmewblatmoosssmooblatmoogobblesquealmewmoopiuarfmoopiumooroararfmooarfarfarfarfarfarfarfarfarfarfmoohihihimooarfarfmooarfarfarfmoopiumoosssmewmooarfcoinblatroararfarfarfmoomoohihihimooleoarfarfrouuuleomooleomooleoarfarfmooarfarfarfarfarfarfarfarfarfmoomoohihihipiumooleoarfarfarfmoopiuarfarfarfmoomewmoopiumooleoarfarfarfarfarfmooroararfarfarfarfarfarfmooarfarfarfarfarfarfarfarfarfarfmoohihihimoomewmewmewsssmooblathihihihowl

Try it online!

_{†: Could be 9 less by using cocorico over cock a doodle doo..}

Vyxal, 48 bytes

`÷Ċ ₈Ȧ Mummy ∆ƛpa ∆ƛma`⌈` Ẏ꘍`+ƛ3(` doo`6*+,)\!+,

Try it Online!

A mess.

`...`⌈                         # Names, split on newlines
      `...`+                   # Append ' Shark' to each
            ƛ                  # Foreach...
             3(          )     # Three times
               ` doo`6*+,      # Append six doos and output
                          \!+, # Append a ! and output

APL (Dyalog Unicode), 72 bytes (SBCS)

↑,(,∘' Shark'¨'BabyDaddyMommyGrandpaGrandma'(∊⊂⊣)⎕A)∘.,'!',⍨3⍴⊂24⍴' doo'

Try it online!

Explanation:

↑,(,∘' ..'¨'...'(∊⊂⊣)⎕A)∘.,'!',⍨3⍴⊂24⍴' doo'
                                   24⍴' doo'⍝ repeat 'doo' 6 times
                                  ⊂         ⍝ box the 'doo's
                                3⍴          ⍝ make three copies
                           '!',⍨            ⍝ append a `!` at the end
           '...'(∊⊂⊣)⎕A                     ⍝ split the long string on capitals
   ,∘' ..'¨                                 ⍝ append to all family members
                        ∘.,                 ⍝ construct a table where each row is
                                            ⍝ a full verse of the song
↑,                                          ⍝ flatten the resulting verse table

-28 thanks to @Adám

-2 bytes (-14 before; but I did a few golfs before checking the golfed version) thanks to @Razetime

Befunge-93, 527 bytes

vv          <<
3v       v,<           v   v     v
0>" ybaB">:| p
<v         <^6#
         v,< 1
>>"krahS">:| "
 v06$      <0<v,,"!"*25
        v,<>^"$v       <
 >"ood ">:|^_^3         v,<
 ^0_v#:-1$< : \>" yddaD">:|
^   >$52*,1-^ "^0$ <      >
^             v     v      < v,<>
>">":62*1p62*#"1+1p^>" ymmoM">:|
^p-1:*27"1"p61<     0    >     >^
v p1-1*46">"p6<     $     v      <v,<
>"6"72*:p    #p     ^     >"dnarG">:|
v     p1*39">"<          ^  ,,,"pa "<
>"v"72*82*p            >$0^
v   p*28*48"m"<
>"@"72*6p              ^

Try it online!

I didn't really try to golf it much, I just wanted it to work. It does, and I'm pretty proud of it. I used the "p" command heavily to reuse a lot of code.

x86-16 machine code, IBM PC DOS, 108 107 bytes

00000000: bd42 01e8 1600 bd47 01e8 1000 bd4d 01e8  .B.....G.....M..
00000010: 0a00 bd53 01e8 0400 c646 056d b409 b104  ...S.....F.m....
00000020: 8bd5 cd21 ba5b 01cd 21e2 06ba 6701 cd21  ...!.[..!...g..!
00000030: c3b3 06ba 6201 cd21 4b75 fbba 6801 cd21  ....b..!Ku..h..!
00000040: ebde 4261 6279 2444 6164 6479 244d 6f6d  ..Baby$Daddy$Mom
00000050: 6d79 2447 7261 6e64 7061 2420 5368 6172  my$Grandpa$ Shar
00000060: 6b24 2064 6f6f 2421 0d0a 24              k$ doo$!..$

Unassembled:

BD 0142         MOV  BP, OFFSET BABY        ; Baby Shark
E8 011C         CALL VERSE
BD 0147         MOV  BP, OFFSET DADDY       ; Daddy Shark
E8 011C         CALL VERSE
BD 014D         MOV  BP, OFFSET MOMMY       ; Mommy Shark
E8 011C         CALL VERSE
BD 0153         MOV  BP, OFFSET GRAND       ; Grandpa/ma Shark
E8 011C         CALL VERSE
C6 46 05 6D     MOV  BYTE PTR [BP][5], 'm'  ; change 'p' to 'm'
            VERSE:
B4 09           MOV  AH, 9                  ; DOS API display string function
B1 04           MOV  CL, 4                  ; loop verse counter
            LOOP_VERSE:
8B D5           MOV  DX, BP                 ; load shark name from BP
CD 21           INT  21H                    ; display shark name
BA 015B         MOV  DX, OFFSET SHARK       ; load 'Shark'
CD 21           INT  21H                    ; display 'Shark'
E2 06           LOOP LOOP_DOO               ; if not last line, write 'doo's
BA 0167         MOV  DX, OFFSET BANG        ; otherwise end with a bang
CD 21           INT  21H                    ; display !, CRLF
C3              RET                         ; return from CALL or to DOS
            LOOP_DOO:
B3 06           MOV  BL, 6                  ; loop 'doo' 6 times
BA 0162         MOV  DX, OFFSET DOO         ; load 'doo' string
            PRINT_DOO:
CD 21           INT  21H                    ; display 'doo'
4B              DEC  BX                     ; decrement doo count
75 FB           JNZ  PRINT_DOO              ; if not last doo, start again
BA 0168         MOV  DX, OFFSET CRLF        ; load CRLF string
CD 21           INT  21H                    ; display CRLF
EB DE           JMP  LOOP_VERSE             ; repeat verse

BABY    DB  'Baby$'
DADDY   DB  'Daddy$'
MOMMY   DB  'Mommy$'
GRAND   DB  'Grand'
PA      DB  'pa$'
SHARK   DB  ' Shark$'
DOO     DB  ' doo$'
BANG    DB  '!'
CRLF    DB  0DH,0AH,'$'

Try it online!

Output

(TODO: update this screenshot for one less byte...)

ink, 114 113 110 bytes

-(h)~temp t="{Baby|Daddy|Mommy|Grand{ma|pa}} Shark"
-(l){t}<>{l%4<1:
!
{h>5:->END}->h
}
-(d)\ doo{d%5:->d}
->l

Try it online!

Explained

-(h)                                                   // A gather, we can jump here and keep track of how many times we've visited.
~temp t="{Baby|Daddy|Mommy|Grand{ma|pa}} Shark"        // The sequence takes on the next value each time it's visited, and we can nest them. Save into local variable t
-(l){t}<>{l%4<1:                                       // Print t and no newline, then if the number of times we've been here is divisible by 4...
!                                                      // Print an exclamation mark
{h>5:->END}->h                                         // Go to h, or halt if we've already been there more than 5 times
}
-(d)\ doo{d%5:->d}                                     // Print " doo" until we've done it a number of times that is a multiple of 5
->l                                                    // Go to l to print the next line

Wren, 110 108 bytes

Fn.new{["Baby","Daddy","Mommy","Grandpa","Grandma"].map{|i|((i=i+" Shark")+" doo"*6+"
")*3+i+"!"}.join("
")}

Try it online!

GolfScript, 70 bytes

"Baby
Daddy
Mommy
Grandpa
Grandma"n/{" Shark"+" doo"6*n++...-25<"!"n}/

Try it online!

Explanation:

"Baby
Daddy
Mommy
Grandpa
Grandma"n/                                       Push shark names, then split by newline
          {                               }/     For each name:
           " Shark"+                                 Concatenate with Shark
                    " doo"6*n++                      add doo * 6 then newline
                               ...                   Duplicate line 3 more times
                                  -25<               Cut off the "doo"s
                                      "!"n           Add "!"

Kotlin 121 bytes

"Baby Daddy Mommy Grandpa Grandma".split(" ").map{(println(("${"$it Shark${" doo".repeat(6)}\n".repeat(3)}$it Shark!")))}

Try it online!

05AB1E, 39 38 bytes

”‡ÍÊТ×myîºpaîºma”#„o€·À6×3и'!ª”㢔ìâ»

Try it online!

”‡ÍÊТ×myîºpaîºma”                # compressed string "Baby Daddy Mommy Grandpa Grandma"
                  #               # split on spaces
„o€·                              # dictionary string "o do"
    À                             # rotated left: " doo"
     6×                           # string-repeat 6 times: " doo doo doo doo doo doo"
       3и                         # list-repeat 3 times
         '!ª                      # append "!" to that list
            ”ã¢”ì                 # prepend "Shark" to each element of that list
â                                 # cartesian product
 »                                # join by newlines
                                  # implicit output

Babylang, 2866 bytes

aaag aaag gagu aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag gaga gaga gaga aaag gaga gaga aaag aaag aaag aaag aaag gaga gaga aaag aaag aaag aaag aaag gaga gaga uuug uuug gaga gaga gaga gaga aaag gaga gaga aaag aaag aaag aaag aaag gaga gaga aaag aaag aaag aaag aaag gaga gaga aaag aaag aaag aaag aaag gaga gaga uuug uuug gaga gaga gaga gaga aaag gaga gaga uuug uuug gaga gaga uuug uuug gaga gaga uuug uuug gaga gaga uuug uuug gaga gaga gaga gaga aaag gaga gaga uuug uuug gaga gaga aaag aaag aaag aaag aaag gaga gaga uuug uuug gaga gaga aaag aaag aaag aaag aaag gaga gaga uuug uuug gaga gaga aaag aaag aaag aaag aaag gaga gaga gaga gaga aaag gaga gaga uuug uuug gaga gaga aaag aaag aaag aaag aaag gaga gaga uuug uuug gaga gaga aaag aaag aaag aaag aaag gaga gaga uuug uuug gaga gaga aaag aaag aaag aaag aaag gagu gagu gugu gugu guga gugu gugu guga gaga guga gaga gaga gaga uuug uuug uuug uuug gaga gaga uuug gaga gaga gaga gaga aaag aaag aaag aaag aaag aaag aaag aaag gaga gaga aaag gaga gaga uuug uuug gaga gaga uuug gaga gaga aaag aaag gaga gaga aaag aaag gaga gaga aaag aaag aaag aaag aaag aaag aaag aaag gaga gaga aaag gaga gaga aaag aaag aaag aaag aaag aaag aaag gaga gaga uuug uuug gaga gaga uuug uuug uuug uuug gaga gaga uuug uuug uuug uuug gaga gaga aaag aaag aaag aaag aaag aaag aaag aaag gaga gaga aaag gaga gaga aaag gaga gaga aaag gaga gaga uuug gaga gaga uuug uuug uuug gaga gaga aaag aaag gaga gaga uuug gaga gaga uuug gaga gaga aaag gaga gaga aaag gaga gaga aaag gaga gaga uuug gaga gaga uuug uuug uuug gaga gaga aaag aaag gaga gaga uuug uuug uuug uuug gaga gaga uuug gagu uuug gugu aaag gugu guga gaga gagu gaga gaga guga aaag gaga gaga gaga aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag aaag gagu aaag aaag aaag aaag aaag aaag aaag gaga uuug uuug uuug uuug uuug uuug uuug gaga aaag gaga gaga aaag gaga uuug uuug uuug uuug uuug gaga aaag aaag aaag gaga aaag aaag aaag gaga uuug uuug uuug uuug gaga aaag aaag aaag gugu gugu gugu gugu gugu gugu gugu gugu gugu guga gaga uuug gaga uuug uuug gaga gaga uuug uuug uuug gaga aaag aaag gaga uuug gaga uuug uuug uuug uuug uuug uuug uuug uuug gaga uuug uuug gaga aaag aaag gagu gugu guga gugu gugu gugu gugu gugu gugu gagu gaga gaga gaga aaag aaag aaag gagu uuug gugu gugu gugu gagu gugu gugu guga gaga gaga gaga gagu guuu gaga gaga guga gaga gagu gaga gaga guga gaga gaga gaga gaga gaga gagu guuu gaga guga gugu gagu gugu guga aaag aaag aaag aaag aaag aaag gagu uuug gaga guuu gaga gaga gaga aaag aaag aaag guuu uuug uuug uuug gaga uuug uuug uuug guuu guuu aaag aaag aaag gugu gugu gugu gugu gugu guga gugu gugu guuu gugu guga gugu gugu gugu gagu gugu gugu guga gaga gaga uuug gaga gagu guuu gagu uuug guga gaga uuug gaga guga gaga gagu gaga gaga guga gaga gaga gaga gaga gaga gagu guuu gaga guga gugu gagu gugu guga gugu guuu gugu guuu gugu gugu gugu gugu guga 

Underload, 93 89 bytes

(Grandma)(Grandpa)(Mommy)(Daddy)(Baby)(~( Shark)*:( doo)::**:**(
)*::**S(!
)*S):^:^:^:^:^

Since Underload is really good at duplicating and concatenation with strings, I decided to give this a go.

Saved 4 bytes by re-arranging things.

Try it online!

Explanation

(Grandma)  Pushes 'Grandma'
(Grandpa)  Pushes 'Grandpa'
(Mommy)  Pushes 'Mommy'
(Daddy)  Pushes 'Daddy'
(Baby)   Pushes 'Baby'
(  Add the next bit of code to the stack
~  Swaps so the name of the Shark (eg: Baby) is on the top of the stack
( Shark)  Pushes ' Shark' to the stack
*  Concatenates ' Shark' to the name of the Shark
:  Duplicates the top of the stack
( doo)  Pushes ' doo'
::**:*  Turns it into ' doo doo doo doo doo doo'
*  Concatenates it to the '[name] Shark'
(<Newline>)*  Concatenates a newline to the string, making it '[Name] Shark doo doo doo doo doo doo[Newline]'
::**   Duplicates it twice
S  Outputs the first three lines of the stanza
(![Newline])*S Concatenates '![Newline]' to the '[Name] Shark' string and prints it
)  Ends the code being added to the stack
:^:^:^:^:  Runs the code in the bracket 5 times, for the 5 different stanzas

Emotion, 65 bytes

😇😃😟🥕😤😦😇😅🧖💥😛🥒🥥🧖😨🤕😇😁💟😫😳🤠😇😆💟😫😳🌽🍌😘😁🚵😙🚵💥😘😁🧟👍🧟💥🚣❤🤣🏃😢🤯😒😁😵😔😧🧐🤠😇😅🧖💥😛🥒🥥🧗😧🧐🤠

Explanation

😇😃😟🥕 Push literal doo
😤 Push five copies of the first stack value.
😦 Collapse all stack values into a string seperated by spaces, then push that string.
😇😅🧖💥😛🥒🥥🧖 Push literal  Shark 
😨 Push the difference of the second and first stack values.
🤕 Store the first stack value in the a register.
😇😁💟😫😳🤠 Push literal Grandma
😇😆💟😫😳🌽🍌 Push literal Grandpa
😘😁🚵😙🚵💥 Push literal Mommy
😘😁🧟👍🧟💥 Push literal Daddy
🚣❤ Push literal Baby
🤣 Push literal 6
🏃😢 Push stack values into a list of the size of the first stack value starting with the second stack value.
🤯 Enter an iteration block over the first stack value and push the iteration element register at the begining of each loop.
😒 Push three copies of the first stack value.
😁 Push literal 3
😵 Enter an iteration block over the first stack value.
😔 Push the value contained in the a register.
😧 Push the sum of the second and first stack values.
🧐 Print the first stack value, then a newline.
🤠 Ends a control flow structure.
😇😅🧖💥😛🥒🥥🧗 Push literal  Shark!
😧 Push the sum of the second and first stack values.
🧐 Print the first stack value, then a newline.
🤠 Ends a control flow structure.

Try it online!

JavaScript (134 126 bytes)

-2 bytes thanks to Stephen! -6 bytes thanks to mgthomas99!

["Baby","Daddy","Mommy","Grandma","Grandpa"].forEach(a=>console.log((a+" shark"+" doo".repeat(6)+"\n").repeat(3)+a+" Shark!"))

JS Fiddle

Wolfram Language (Mathematica), 95 bytes

Do[Print[a," Shark"<>If[i>3,"!",Table[" doo",6]]],{a,{Baby,Daddy,Mommy,Grandpa,Grandma}},{i,4}]

Try it online!

Jelly, 42 bytes

“¡N³»ẋ6Wẋ3;”!ṭ€;Y
“¡ʂɓṙṢ®ÑR+£ṭỤṙ»Ḳ瀓¤⁾ċ»Y

Try it online!

How?

“¡N³»ẋ6Wẋ3;”!ṭ€;Y - Link 1: make a verse: familyMember; space+animalName
                  -                        e.g. "Baby"; " Shark"
“¡N³»             - dictionary word " doo"
     ẋ6           - repeat 6 times -> " doo doo doo doo doo doo"
       W          - wrap in a list -> [" doo d..."]
        ẋ3        - repeat 3 times -> [" doo d..."," doo d..."," doo d..."]
           ”!     - literal '!' character
          ;       - concatenate    -> [" doo d..."," doo d..."," doo d...","!"]
               ;  - concatenate inputs ["Baby Shark"]
             ṭ€   - tack for €ach  -> [["Baby Shark"," doo d..."],...,["Baby Shark","!"]]
                Y - join with newline characters
 
“¡ʂɓṙṢ®ÑR+£ṭỤṙ»Ḳ瀓¤⁾ċ»Y - Main Link: no arguments
“¡ʂɓṙṢ®ÑR+£ṭỤṙ»          - dictionary words "Baby"+" Daddy"+" Mommy"+" Grandpa"+" Grandma"
               Ḳ         - split at spaces -> ["Baby","Daddy","Mommy","Grandpa","Grandma"]
                  “¤⁾ċ»  - dictionary word " Shark"
                ç€       - call last Link (1) as a dyad for €ach
                       Y - join with newline characters
                         - implicit print

Javascript, 125 123 bytes

['Baby','Daddy','Mommy','Grandpa','Grandma'].flatMap(x=>[...[,,,].fill(' doo'.repeat(6)),'!'].map(y=>x+' Shark'+y)).join`
`

Try it online!

R, 131 122 120 bytes

-9 bytes thanks to Giuseppe

-2 more bytes, also Giuseppe

`?`=c
s="Shark"
for(x in "Baby"?"Daddy"?"Mommy"?"Grandpa"?"Grandma")cat(rep("
"?x?s?rep("doo",6),3)?"
"?x?paste0(s,"!"))

Try it online!

Quite proud of this actually, especially with R being rather poor at handling strings. I started out using cat(sapply(...)), but realized a for loop shaves off a few bytes.

Abusing the "?"=c significantly reduced the amount of parentheses needed.

I also tried to do "*"=rep to repeat the individual lines of the stanzas and the "doos", but that did not shave off any bytes.

111 bytes

Giuseppe and ASCII-only's alternative, (and better) solution that fixes some spacing issues.

write(paste0(rep(c("Baby","Daddy","Mommy","Grandpa","Grandma"),,,4)," Shark",c(rep(strrep(" doo",6),3),"!")),1)

Try it online!

C (gcc), 123 122 bytes

-1 byte thanks to ceilingcat

#define A" doo doo"
f(i){for(i=20;i--;)printf("%.7s Shark%s\n","GrandmaGrandpaMommy\0 Daddy\0 Baby"+i/4*7,i%4?A A A:"!");}

Try it online!

Japt -R, 58 57 bytes

`BabysDaddysMommysGÎÀpGÎÀµ`qÅ˱` Srk` +` ºo`³²+R ³+D+'!

Run it online

PHP, 153 147 bytes

<?php $s='Shark';$d=str_pad('',23,'doo ');foreach(explode(' ','Baby Daddy Mommy Grandpa Grandma')as$a){echo str_repeat("$a $s $d\n",3),"$a $s!\n";}

Thanks to @manatwork for saving 6 bytes by pointing out str_pad('',23'doo '); is shorter than rtrim(str_repeat('doo ',6));

Try it online!

Plain TeX, 147 Bytes

\input pgffor\def\D{doo~}\def\d{\D\D\D\D\D\D}\def\S{Shark}\def\y{\x~\S~\d\par}\foreach\x in{Baby,Mommy,Daddy,Grandma,Grandpa}{\y\y\y\x~\S!\par}\bye

Rather disappointing, but I haven't posted a TeX answer in ages. Loops are very verbose in teX (and looping over strings isn't even built-in so even this is a bit of a stretch)

Emojicode, 292 bytes (140 characters)

🏁🍇🔤Baby🔤➡️b🔤Daddy🔤➡️y🔤Mommy🔤➡️o🔤Grandpa🔤➡️g🔤Grandma🔤➡️a🔤 Shark🔤➡️s🔤 doo🔤➡️d🍨b y o g a🍆➡️f🔂m f🍇🔂i🆕⏩⏩0 3❗️🍇😀🍪m s d d d d d d🍪️❗️🍉😀🍪m s🔤!🔤🍪❗️🍉🍉

Run it

Expanded out:

🏁🍇
  🔤Baby🔤 ➡️ b
  🔤Daddy🔤 ➡️ y
  🔤Mommy🔤 ➡️ o
  🔤Grandpa🔤 ➡️ g
  🔤Grandma🔤 ➡️ a
  🔤 Shark🔤 ➡️ s
  🔤 doo🔤 ➡️ d
  🍨b y o g a🍆➡️f
  🔂m f🍇
    🔂i🆕⏩⏩0 3❗️🍇
      😀🍪m s d d d d d d🍪️❗️
    🍉
    😀🍪m s🔤!🔤🍪❗️
  🍉
🍉

Explained (per the Emojicode doc):

🍇🍉

The same as a { and } (e.g. a code block)

🏁

The "program start" (e.g. int main())

🔤Baby🔤 ➡️ b

Variable assignment (e.g. const char* b = "Baby";)

🍨b y o g a🍆➡️f

Says, create a list of values between 🍨 and 🍆 and assign (➡️) to f (e.g. const char* f[] = {b,y,o,g,a};)

🔂m f🍇 ... 🍉

This line says to loop over the elements in f using the alias m, where the ... is the code between 🍇 and 🍉.

🔂 i 🆕⏩⏩ 0 3❗️🍇 ... 🍉

This line says to loop over the range [0,3), where the ... is the code between 🍇 and 🍉.

😀🍪 ... 🍪️❗️

This line says to print the format specified in ... (e.g. printf("%s\n");)

The code translated to C:

#include <stdio.h>

int main() {
  const char* b = "Baby";
  const char* y = "Daddy";
  const char* o = "Mommy";
  const char* g = "Grandpa";
  const char* a = "Grandma";
  const char* s = " Shark";
  const char* d = " doo";
  const char* f[] = {b,y,o,g,a};
  int m = 0, i = 0;
  for (; m < 5; ++m) {
    for (i = 0; i < 3; ++i) {
      printf("%s%s%s%s%s%s%s%s\n", f[m], s, d, d, d, d, d, d);
    }
    printf("%s%s!\n", f[m], s);
  }
  return 0;
}

Following this, the original code (posted below for posterity) had some issues; mostly that the 🏁🍇🍉 block was not included for those who wish to run it, and the emoji's were not actually properly escaped, to that, here is the actual running version of that code:

Original modified to run: Emojicode, 224 bytes (67 characters)

🏁🍇🍨🔤👶🔤🔤👨🔤🔤🤱🔤🔤👴🔤🔤👵🔤🍆➡️f🔂m f🍇🔂i🆕⏩⏩0 3❗️🍇😀🍪m🔤🦈💩💩💩💩💩💩🔤🍪️❗️🍉😀🍪m🔤🦈!🔤🍪❗️🍉🍉

Expanded out:

🏁🍇
  🍨
    🔤👶🔤
    🔤👨🔤
    🔤🤱🔤
    🔤👴🔤
    🔤👵🔤
  🍆 ➡️ f
  🔂 m f 🍇
    🔂 i 🆕⏩⏩ 0 3❗️🍇
      😀🍪m🔤🦈💩💩💩💩💩💩🔤🍪️❗️
    🍉
    😀🍪m🔤🦈!🔤🍪❗️
  🍉
🍉

Which produces the output:

👶🦈💩💩💩💩💩💩
👶🦈💩💩💩💩💩💩
👶🦈💩💩💩💩💩💩
👶🦈!
👨🦈💩💩💩💩💩💩
👨🦈💩💩💩💩💩💩
👨🦈💩💩💩💩💩💩
👨🦈!
🤱🦈💩💩💩💩💩💩
🤱🦈💩💩💩💩💩💩
🤱🦈💩💩💩💩💩💩
🤱🦈!
👴🦈💩💩💩💩💩💩
👴🦈💩💩💩💩💩💩
👴🦈💩💩💩💩💩💩
👴🦈!
👵🦈💩💩💩💩💩💩
👵🦈💩💩💩💩💩💩
👵🦈💩💩💩💩💩💩
👵🦈!

Run it

Where in you have the individual emoji's representing the words:

👶 -> Baby
👨 -> Daddy
🤱 -> Mommy
👴 -> Grandpa
👵 -> Grandma
🦈 -> Shark
💩 -> doo

Original: Emojicode, 138 bytes (47 characters)

🍨👶👨🤱👴👵🍆➡️f🔂m f🍇🔂i🆕⏩⏩0 3❗️🍇😀m🦈💩💩💩💩💩💩❗️🍉😀m🦈!❗️🍉

Expanded out:

🍨👶👨🤱👴👵🍆➡️f
🔂m f🍇
  🔂 i 🆕⏩⏩ 0 3❗️🍇
    😀 m 🦈💩💩💩💩💩💩❗️
  🍉
  😀 m 🦈!❗️
🍉

PowerShell, 88 86 85 80 79 76 bytes

-5 bytes thanks to @mazzy
-1 byte thanks to @Joey
-3 bytes thanks to @AdmBorkBork

echo Baby Daddy Mommy Grandpa Grandma|%{,(($a="$_ Shark")+" doo"*6)*3;"$a!"}

Try it online!

We've certainly come a long way.

PowerShell (with Text to Speech), 156 bytes

This is NOT up to spec, but it's kinda funny. Thanks to @rkeet for the idea!

Add-Type -a System.Speech;echo Baby Daddy Mommy Grandpa Grandma|%{(New-Object Speech.Synthesis.SpeechSynthesizer).Speak((($a="$_ Shark")+" doo"*6)*3+" $a")}

.NET Text to speech pronunciation is... well... interesting. Keep this in mind when listening. Enjoy!

whenyouaccidentallylose100endorsementsinnationstates - 123,065 121,716 113,695 100,889 98,554 bytes

The program

I'll golf this later. Done.

I'll golf this more (later) Done.

I'll golf this even more later. DONE.

I'll get the byte count to 5 digits later. YAY.

I'll get the byte count to 4 digits (I don't know if this is possible, but I do know it is impossible to get 3 digits with my current approach).

brainfuck, 627 593 573 bytes

Initialise Array with "Baby\0Daddy\0Mommy\0Grandpa\0Grandma"
Loop runs 71 times
++[++++++++++++++++++
    Get array cells to approximately correct values
    >>>+>>+++++>>+++++>>-->>>>+>>+++++>>+++++>>+++++>>-->>>>+>>-->>-->>-->>-->>>>+>>-->>+++++>>-->>+++++>>-->>+++++>>>>+>>-->>+++++>>-->>+++++>>-->>+++++
    [[<<]<<]>
]
Finish getting cells to correct values
>>>---->>->>>>++++++++>>+>>-->>->>++>>++>>++++++++>>+>>+++++++>>-->>---->>---->>++++++++>>+>>+>>+>>->>--->>++>>->>->>+>>+>>+>>->>--->>++>>---->>-
Inject ones between each cell in the array
[-<+<]>[>>]+

Initialise an exclamation mark; newline; and the string " Shark"
>>>+++++++++++[+++++++
    >------->+>>+>----->+++>+++>---->+++
    <<<<<<<<<
]
>->-->>--->++>->-------->-->++
[<]
Go to the end of the "Baby" Array to loop
<<<<<<[
    >>>
    Loop 3 times
    +++[-
        Go to the first value of the baby array
        <<<[<<]>>>
        Print the word out
        [.>>]
        Go to the shark array
        >[>>]>>>>>
        Print " Shark"
        [.>]
        <[<]
        Loop 6 times
        ++++++[-
            Print a space
            >.
            Change the 'a' in " Shark" to a 'd' and print
            >>>+++.---
            Change the 'r' in " Shark" to an 'o' and print twice
            >---..+++
            <<<<<
        ]
        Print newline
        <<.
        <
    ]
    Go to start of baby array
    <<<[<<]>>
    Print and consume the first string in the array
    ->[.[-]>->]
    Go to shark string
    >[>>]>>>>>
    Print " Shark"
    [.>]
    <[<]
    Print "!\n"
    <.<.
    <<<<
]

-20B thanks to Jo King

Try it online!

T-SQL, 151 bytes

SELECT REPLACE(a.value+' Shark'+b.value,'Q',REPLICATE(' doo',6))
FROM STRING_SPLIT('Baby,Daddy,Mommy,Grandpa,Grandma',',')a,STRING_SPLIT('Q,Q,Q,!',',')b

Line break for readability only.

SQL's built-in function names are annoyingly long.

STRING_SPLIT works in SQL 2016 and later.

Order isn't 100% guaranteed without an ORDER BY, but this seemed to work in my testing.

Swift 4, 149 bytes

var s=" Shark";for i in["Baby","Daddy","Mommy","Grandpa","Grandma"]{for _ in 0...2{print(i+s+(0..<6).map({_ in" doo"}).reduce("",+))};print(i+s+"!")}

Try it online!

groovy, 96 bytes

'Baby Daddy Mommy Grandpa Grandma'.split().any{n="$it Shark";println((n+" doo"*6+'\n')*3+n+'!')}

Try it online!

C# (Visual C# Interactive Compiler), 139 bytes

"Baby Daddy Mommy Grandpa Grandma".Split().ToList().ForEach(x=>{string a=" doo",m=x+$" Shark{a+a+a+a+a+a}\n";Write(m+m+m+x+" Shark!\n");});

Try it online!

Any thoughts on improvements? I started aiming for a Linq-based solution with a SelectMany but the deferred execution failed me, along with string.join and return x; being quite verbose syntax

R, 139 138 137 bytes

s='Shark';d='doo';cat(paste(rep(c('Baby','Daddy','Mommy','Grandpa','Grandma'),e=4),c(rep(paste(s,d,d,d,d,d,d),3),paste0(s,'!'))),sep='
')

There's probably a better way to do the 'doo's but I wasn't able to get it.

Edit:
Replaced '\n' with actual new line at JDL's suggestion;
Removed trailing newline at Giuseppe's suggestion.

Try it online

R, 126 125 bytes

cat(paste(rep(c("Baby","Daddy","Mommy","Grandpa","Grandma"),,,4),c(rep("Shark doo doo doo doo doo doo",3),"Shark!")),sep="
")

This doesn't feel as 'clever' as either CT Hall or Sumner18's answers, but by avoiding the overhead of defining variables it comes out smaller.

Try it online!

Edit: Saved 1 byte by using carriage return as per comment by Jonathan Frech

C# (Visual C# Interactive Compiler), 153 131 bytes

foreach(var i in"Baby Daddy Mommy Grandpa Grandma".Split()){var a=i+" Shark doo doo doo doo doo doo\n";Write(a+a+a+i+" Shark!\n");}

Thanks to @Destrogio for saving 30 bytes!

Try it online!

F# (.NET Core), 160 156 bytes

let c,r,s=String.concat,List.replicate," Shark"
let p n=r 3(c" "(n+s::r 6"doo"))@[n+s+"!"]
["Baby";"Daddy";"Mommy";"Grandpa";"Grandma"]|>Seq.collect p|>c"
"

Try it online!

And based on @aloisdg version, I get this one:

F# (.NET Core), 130 129 bytes

let p,d=printfn"%s Shark%s"," doo doo"
for i in["Baby";"Daddy";"Mommy";"Grandpa";"Grandma"]do(for _ in"123"do p i (d+d+d));p i"!"

Try it online!

Gaining 1 more char by changine [0..2] by "123" wich is also a sequence of 3 items...

Emacs Lisp, 177 bytes

(defmacro w()`(princ(concat i" Shark doo doo doo doo doo doo\n")))
(defmacro z()`(princ(concat i" Shark!\n")))
(loop for i in'("Baby""Daddy""Mommy""Grandpa")do(and(w)(w)(w)(z)))

F# (.NET Core), 179 bytes

["Baby";"Daddy";"Mommy";"Grandpa";"Grandma"]|>Seq.map(fun i->([0..2]|>Seq.map(fun _->i+" Shark doo doo doo doo doo doo")|>String.concat "\n")+"\n"+i+" Shark!")|>String.concat "\n"

Try it online!

No input, export to a string and to std output in a console.

145 bytes

for i in["Baby";"Daddy";"Mommy";"Grandpa";"Grandma"]do(for _ in[0..2]do printfn"%s"(i+" Shark doo doo doo doo doo doo"));printfn"%s"(i+" Shark!")

Try it online!

No input, export to std output

Wolfram Language (Mathematica), 145 bytes

Nothing special, still thinking of a shorter method.

a={"Baby","Daddy","Mommy","Grandpa","Grandma"};c=" Shark";b=c<>StringJoin@Table[" doo",6];Do[Do[Print[a[[i]]<>b],3];Print[a[[i]]<>c<>"!"];,{i,5}]

Try it online!

VBA (Excel), 152 118 bytes

-34 bytes. Thanks @TaylorScott

Using Immediate Window.

a=Split("Baby Daddy Mommy Grandpa Grandma"):b=" Shark":c=" doo":For d=0To 19:?a(Int(d/4))b &IIf((d+1)Mod 4=0,"!",Join(Split(String$(6,"."),"."),c)):Next

a=Split("Baby Daddy Mommy Grandpa Grandma"):b=" Shark":For d=0To 19:?a(d\4)b;IIf((d+1)Mod 4,[Rept(" doo",6)],"!"):Next

Haskell, 97 bytes

unlines[x++s++p|x<-words"Baby Daddy Mommy Grandpa Grandma",p<-[a,a,a,"!"]]
s=" Shark"
a=s>>" doo"

Try it online!

This is an optimization of the Haskell solution by starsandspirals. The new trick is to iterate over the rows of each stanza with an inner loop, and join the lines using unlines, saving the need to explicitly insert newlines.

The suffixes of the four lines are [a,a,a,"!"], where a is " doo" replicated 6 times with a=s>>" doo", where starsandspirals cleverly reuses the six-character-long s=" Shark". Writing [a,a,a,...] looks a bit silly, but I'm not seeing a shorter way.

A list-monad version is the same length but it looks cool.

unlines$(++).(++s)<$>words"Baby Daddy Mommy Grandpa Grandma"<*>[a,a,a,"!"]
s=" Shark"
a=s>>" doo"

Try it online!

Clean, 134 bytes

import StdEnv,Text
r=repeatn
f=join"\n"[e+" Shark"+concat s\\e<-split" ""Baby Daddy Mommy Grandpa Grandma",s<-r 3(r 6" doo")++[["!"]]]

Try it online!

Jelly, 51 bytes

;“¤⁾ċ»;“¡N³»ẋ6¤;”¶ẋ3;;“ß<Ė»
“þɗ“¡þ"“£H$“æf⁵“æeⱮ»Ç€Y

Try it online!

Jelly isn't the best for string manipulation. Still pretty good.

If you expand out the strings to their ungolfed form, the code looks like this:

;“ Shark”;“ doo”ẋ6¤;“¶”ẋ3;;“ Shark!”
“Baby“Daddy“Mommy“Grandpa“Grandma”Ç€Y

(The string compression was done using user202729's compressor).

;“ Shark”;“ doo”ẋ6¤;“¶”ẋ3;;“ Shark!”   Helper Link; take a string and format it into a stanza
;“ Shark”                              Append " Shark" to the string
         ;                             Join
                  ¤                    Previous links as a single nilad
          “ doo”                       " doo"
                ẋ6                            repeated 6 times
                   ;“¶”                Append a newline
                       ẋ3              Repeat 3 times
                         ;             Append the string
                          ;“ Shark!”   Append " Shark!"
“Baby“Daddy“Mommy“Grandpa“Grandma”Ç€Y  Main link
“Baby“Daddy“Mommy“Grandpa“Grandma”     ["Baby", "Daddy", "Mommy", "Grandpa", "Grandma"]
                                  ǀ   For each of these words, format it into the stanza with that family position
                                    Y  Join by newlines

PHP, 104 bytes

foreach([Baby,Daddy,Mommy,Grandpa,Grandma]as$s)echo$t=$s.str_pad($u=" Shark",30," doo"),"
$t
$t
$s$u!
";

Run with php -nr '<code>' or try it online.

jq, 87 characters

" Shark"as$s|("Baby Daddy Mommy Grandpa Grandma"/" ")[]|(.+$s+" doo"*6+"\n")*3+.+$s+"!"

Sample run:

bash-4.4$ jq -nr '" Shark"as$s|("Baby Daddy Mommy Grandpa Grandma"/" ")[]|(.+$s+" doo"*6+"\n")*3+.+$s+"!"'
Baby Shark doo doo doo doo doo doo
Baby Shark doo doo doo doo doo doo
Baby Shark doo doo doo doo doo doo
Baby Shark!
Daddy Shark doo doo doo doo doo doo
Daddy Shark doo doo doo doo doo doo
Daddy Shark doo doo doo doo doo doo
Daddy Shark!
Mommy Shark doo doo doo doo doo doo
Mommy Shark doo doo doo doo doo doo
Mommy Shark doo doo doo doo doo doo
Mommy Shark!
Grandpa Shark doo doo doo doo doo doo
Grandpa Shark doo doo doo doo doo doo
Grandpa Shark doo doo doo doo doo doo
Grandpa Shark!
Grandma Shark doo doo doo doo doo doo
Grandma Shark doo doo doo doo doo doo
Grandma Shark doo doo doo doo doo doo
Grandma Shark!

Try it online!

PostgreSQL, 162 156 138 bytes

select a||' Shark'||replace(b,'1',repeat(' doo',6))from unnest('{Baby,Daddy,Mommy,Grandpa,Grandma}'::text[])a,unnest('{1,1,1,!}'::text[])b

Ungolfed

select 
    a || ' Shark' || replace(b,'1',repeat(' doo',6))
from unnest('{Baby,Daddy,Mommy,Grandpa,Grandma}'::text[]) a
    ,unnest('{1,1,1,!}'::text[]) b

Saved 6 24 bytes thanks to @Nahuel Fouilleul!

• use || instead of concat()
• use unnest('{foo,bar}'::text[]) instead of regexp_split_to_table('foo,bar')

DB<>fiddle

Haskell, 122 113 108 106 104 bytes

s=" Shark";m=do x<-words"Baby Daddy Mommy Grandpa Grandma";("aaa">>x++s++(s>>" doo")++"\n")++x++s++"!\n"

Try it online!

• "aaa">>x replicates x 3 times, as "aaa" has length 3.

• s>>" doo" replicates " doo" 6 times, as " Shark" has length 6!

• 2 bytes saved thanks to @Fox

• 2 bytes saved thanks to @Laikoni

C (compiled with VC++ (Visual Studio 2017)) 536Bytes

#include "stdafx.h"
#define d "doo "
#define p(x) printf(x);
#define n p("\n")
#define b p(f[i])p(" Shark ")
#define l(x,y) for(int x=0;x<y;x++)
void main(){const char*f[]={"Baby","Daddy","Mommy","Grandpa","Grandma"};l(i,5){l(k,3){b;l(j,6)p(d)n}b;p("\b!\n")}}

this is my naive try: it started from the "good version" where everything is done the neat and tidy way and i just removed the blanks, semicolons where possible and curly braces if possible. i changed main from int to void in order to be able to leave out the return Statement in the end if using a different Compiler (say gcc) the stdafx.h can be ommitted (visual Studio throws an error though (or i just dont know how to do it better...)) although then the use of printf means you either have to include stdio.h instead (=1byte win) or you have to use a Compiler flag to add this to the build path although not mentioned in the Code.... if its no dealbreaker if the exclamation mark is one space away from Baby Shark then the \b can be ommitted (=2 Byte win)

bash, 78 bytes

printf %s\\n {Baby,Daddy,Mommy,Grand{p,m}a}\ Shark{" `echo doo{,,}{,}`"{,,},!}

TIO

73 bytes if trailing space is allowed

echo '
'{Baby,Daddy,Mommy,Grand{p,m}a}\ Shark{" `echo doo{,,}{,}`"{,,},!}

Perl 5, 84 bytes

print (map{join(" doo"x6,("\n$_ Shark")x4),"!"}qw(Baby Daddy Mommy Grandpa Grandma))

Try it online!

Stax, 43 bytes

ÇÉ╕µM%╠2'§t╪╝½ôòn=n╢/╬╦Φ▲Vêø■T⌂g^N┴W.ìC↕ƒ·Φ

Run and debug it

><>, 158 115 bytes

Saved a lot of bytes thanks to Jo King

>4>1-&0'krahS '0l3-.
~ ^oa~<
ooo:?!/1-'ood 'o
\ao'!'^?$6:&~
\!?:o
^'ybaB'
^'yddaD'
^'ymmoM'
^'apdnarG'
^'amdnarG'
;

Try it online! You may also want to paste the code in at fishlanguage.com, where you can see an animation of it swimming running.

05AB1E, 50 41 bytes

“‡ÍÊТ×myîºpaîºma“#ð«'㢫™v…doo6иyšÐy'!«»

Last part v4FN3Qiy'!«ë…doo6иyšðý}, can definitely be golfed a bit.. And I was right, -9 bytes thanks to @Emigna (even more than I was expecting).

Try it online.

Explanation:

“‡ÍÊТ×myîºpaîºma“ # Push dictionary string "baby daddy mommy grandpa grandma"
 #                 # Split by spaces: ["baby","daddy","mommy","grandpa","grandma"]
  ð«               # Append a space to each
    '㢫          '# Append dictionary string "shark" to each
        ™          # Title-case each word
v                  # Loop `y` over these strings
 …doo              #  Push string "doo"
     6и            #  Repeat it 6 times as list
       yš          #  Prepend the string `y` at the front of the list
         Ð         #  Triplicate this list
 y'!«             '#  Push string `y`, concatted with a "!"
 »                 #  Join everything on the stack by newlines
                   #  (and each list implicitly by spaces)
                   # (and after the loop, output the result implicitly)

See this 05AB1E tip of mine (section How to use the dictionary?) to understand why “‡ÍÊТ×myîºpaîºma“ is "baby daddy mommy grandpa grandma" and 'ã¢ is "shark".

Python 3, 105 97 96 bytes

for x in"Baby","Daddy","Mommy","Grandpa","Grandma":z=x+' Shark';print((z+' doo'*6+"\n")*3+z+"!")

Try it online!

A simple Python 3 solution. (9 bytes saved by Jo King and Quintec)

J, 85 bytes

echo('Shark'(,&'!',~(24$' doo')(3#,:)@,~])@,~]);.2'Baby Daddy Mommy Grandpa Grandma '

Try it online!

Note: This assumes a blank line between stanzas is ok. If that's not the case, prepending ,/ to my solution for +2 bytes.

JavaScript, 104 bytes

More golfing to follow.

_=>`Baby
Daddy
Mommy
Grandpa
Grandma`.replace(/.+/g,x=>(s=(x+=` Shark`)+` doo`.repeat(6)+`
`)+s+s+x+`!`)

Try It Online!

SOGL, 40 bytes

o⅝ηvΒvPΝ┘÷ΖnΨ‘θ{"nOe;‘+ū:" doo”6*+TTPPļ!

Try it here!

Retina 0.8.2, 77 75 74 bytes

Baby¶Daddy¶MommyGpaGma
G
¶Grand
.+
$&s$&s$&s$&S!
s
S6$*O¶
O
 doo
S
 Shark

Try it online! Explanation:

Baby¶Daddy¶MommyGpaGma
G
¶Grand

Insert the relations on separate lines.

.+
$&s$&s$&s$&S!¶

Expand into four lines.

s
S6$*O¶
O
 doo
S
 Shark

Expand the placeholders.

69 68 bytes in Retina 1:

Baby¶Daddy¶MommyGpaGma
G
¶Grand
.+
$& Shark
.+
3*$($&6*$( doo)¶)$&!

Try it online! Explanation:

Baby¶Daddy¶MommyGpaGma
G
¶Grand

Insert the relations on separate lines.

.+
$& Shark

Append Shark to each.

.+
3*$($&6*$( doo)¶)$&!

Expand into whole verses.

Japt -R, 55 bytes

Pretty naïve first pass.

`baß'adÝcomæ²T\`èT\`µ`qi Ë'!i4Æ` Srk`iDhDÎuÃqRi6ç` ºo

Test it

Ruby, 82 bytes

%w(Baby Daddy Mommy Grandpa Grandma).map{|a|puts [a+" Shark"]*4*(" doo"*6+?\n)+?!}

Try it online!

JavaScript (Node.js), 132 bytes

Probably very golf-able. Generates the "doo doo" line, then creates three of those with the "!" line after, and repeats this for each shark.

a=""
c=" doo"
for(b of["Baby","Daddy","Mommy","Grandpa","Grandma"]){b+=" Shark"
t=b+c+c+c+c+c+c+"\n"
a+=t+t+t+b+"!\n"}console.log(a)

Try it online!

Java (JDK), 135 bytes

v->{for(var s:"Baby Daddy Mommy Grandpa Grandma".split(" "))System.out.println(((s+=" Shark")+" doo".repeat(6)+"\n").repeat(3)+s+"!");}

Try it online!

Attache, 79 bytes

$Baby'$Daddy'$Mommy'$Grandpa'$Grandma+" Shark":>Print@{(_+" doo"*6+lf)*3+_+"!"}

Try it online!

An attempt at compressing the above iteration array is NTS@N=>Split[S@FromBase[Ords@")!-ZOW]NE.kK3(*F(a3\\z6fXD_\\yEM"-32,95],"00"], which is significantly longer than the trivial encoding above. Compressing the string using base conversion in its entirety would likely come out to be longer.

Alternatives

81 bytes: Print@{(_+" doo"*6+lf)*3+_+"!"}=>($Baby'$Daddy'$Mommy'$Grandpa'$Grandma+" Shark")

82 bytes: Output!{(_+" doo"*6+lf)*3+_+"!"}=>($Baby'$Daddy'$Mommy'$Grandpa'$Grandma+" Shark")

86 bytes: Output!(""'3&(" doo"*6+lf)'"!")&Join=>($Baby'$Daddy'$Mommy'$Grandpa'$Grandma+" Shark")

87 bytes: Output!(""'3&(" doo"*6+lf)'"!")&Join@`+&" Shark"=>$Baby'$Daddy'$Mommy'$Grandpa'$Grandma

///, 124 bytes

/*/$!
//)/Grand//(/Baby//'/Mommy//&/Daddy//%/ doo//$/ Shark//#/a")//"/$%%%%%%
/("("("(*&"&"&"&*'"'"'"'*)p#p#p#pa*)m#m#m#ma$!

Try it online!

cQuents, 93 89 bytes

|
#20&bk)~" Shark"~(" doo"6,Z,Z,bk)~" Shark!"
:"Baby","Daddy","Mommy","Grandpa","Grandma"

Try it online!

Note that as of posting TIO is not updated to the latest version, so the TIO link may not work.

Explanation

|                               Set delimiter to newline
#20                             n = 20
   &                            Output first n terms in sequence
                                k = 1
                                First term is
    bk)~" Shark"                 kth term from the third line concatenated to " Shark"
                ~(" doo"6,        concatenated to " doo" repeated 6 times
Z,Z,                            Second and third terms equal the first term
    bk)~" Shark!"               Fourth term is the kth term from the third line concatenated to " Shark!"
                                k += 1, restart

Third line                      5 terms, each a string

Python 2, 93 bytes

for w in"Baby Daddy Mommy Grandpa Grandma".split():w+=" Shark";print(w+" doo"*6+"\n")*3+w+"!"

Try it online!

94 bytes

for w in"Baby Daddy Mommy Grandpa Grandma".split():print((" doo"*6+"\n%s Shark"%w)*4)[25:]+"!"

Try it online!

Perl 6, 79 78 bytes

(<Baby Daddy Mommmy Grandpa Grandma>X~" Shark"X~ |((" doo"x 6)xx 3),'!')>>.say

Try it online!

Pretty simple.

Explanation:

 <...>X~                                  # Combine family members
        " Shark"X~                        # With "Shark" and
                   |((" doo"x 6)xx 3)     # doo repeated 6 times then 3 times
                                     ,'!' # Then !
(                                        )>>.say  # And print each line