>I'd lose ~$1300 in surrender charges and have ~$16K.

$16k less taxes on the income.

>contribute (in theory) the amount I cashed out of each account. Is this even possible?

No, you can't replace previous contributions your will be subject to the annual contribution limit when you decide to replace the money.

>I don't anticipate being out of work long or spending all $16K

Then don't take out all the money! Why would pay the penalty and the taxes on the whole amount? If this is "my kids will go hungry" territory then take out only what you need when you need it. Start the Roth IRA contributions because those have no penalties or taxes.

>Is this crazy talk?

Raiding your retirement early is almost always crazy talk. But if it's literally a matter of life and death that's less crazy than withdrawing because you can't be bothered to budget.

You'll need to get ahead of this at some point though, you don't want your kids to be your retirement plan.