My Dad charged a small amount when I lived with him, about 200 a month back in the early 00s - I got a reduction when I sorted and paid for broadband though.
I think it's a great idea, and only fair - if you're earning, why not contribute to the household. If your parents decide to spend it, then consider it their reward for all they put into you growing up. If they are astute and put it aside for you, when you need it in later life, then all the better.
My daughter is only 3, so the best I can muster is a bit of Dad tax here and there - but when she's working, and still living with us, I will certainly look at teaching her about rent and bills