I am a father of two and a husband and want to attend college?

I have one biological child and a step child child. Married as well. I reside in Texas, and made $90,000 (COMBINED) in 2010. I want to get my degree but am strapped for cash. With all the child expenses, medical expenses (dental) and a little bit of living the dream (unsecured debt) i find myself not being able to afford anything else (LITERALLY PAYCHECK TO PAYCHECK). My company does a certain percentage on tuition reimbursement but that doesn't come through until the end of the cles, and is based on GPA as to how much percentage. I need some good ideas of how i can do this? I do not want to get loans as that will only get me further in debt. I need some good info. Anything that could help would be appreciated. Does it look grim for me? is there ANY HOPE!? :)