I have strong feelings about this one.
I paid my own way through college, working the system to my advantage. For my wife, we paid down her loans with a vengeance after we were married and had them paid off within a few years. I believe a good portion of our success has been the result of not carrying any debt other than our mortgage, and even then, ultimately paying off the mortgage early and becoming completely debt free.
After our daughter was born, we set up a college savings plan, and contributed consistently - most years adding my annual bonus, so it grew nicely and had enough to cover the entire undergrad degree for most any school.
My feeling is that regardless of whether the parents have the means to (help) pay, what is more important is guiding the kids to the right school. It's no longer very unusual for kids to take 5 years to complete their degree (lots of distractions these days at the country club resorts many campuses have become), or end out making a change along the way concluding their interests have changed and so they need to change schools or majors ultimately leading to higher costs. Many kids want to go to a prestigious school carrying a $50k+ annual price tag, and many parents go along and (understandably) view it as a badge of honor for themselves. Without financial aid, that can easily come to $200k for four years. That's just at the $50k price level...there are a handful of schools which are $70k-$75k per year, and with the way schools raise their prices and the magic of compounding, within a few years we are going to see one be the first to crack the $100k/year level...just for undergrad studies.
For our daughter, my wife and I started very early, worked very hard to choose the right school to match her objectives and work with the amount of money we had set aside. We began planning far in advance and essentially brainwashed daughter along the way, so when the time came, there was nothing to do as far as lots of test taking, applying to lots of colleges, going through the months of anguish waiting for the admissions letters to come, and then finally having to make a decision. There was only one school, we worked with them, and they worked with us. We're paying for the entire bill (it's currently in progress) and it's worked out extremely well thus far.
The college landscape is changing very rapidly, in terms of what constitutes a college education, how it is delivered, and how applicable it is in society today. My wife and I both attended the high sticker price top tier college (we wouldn't have ended up together otherwise), and are extremely progressive when it comes to education (daughter was home schooled 7th grade onward). We've likewise taken a progressive approach when it comes to college education for our daughter.
Regardless of what gets decided, I firmly believe that it needs to be a shared decision, with the parents providing lots of input to decide what the best plan is for what the child is looking to do and how the finances work out. Do you really need a Cadillac when a Chevy will do? Are you really comfortable letting a teenager, who cannot even legally vote or drink, make a financial decision regarding $100k or more? Most kids do not have a good concept of money at that age as most all of their finances have been handled by the parents to that point. Sure, there is a time to leave the nest, but (I believe) starting with such a big financial decision which will have life changing implications is not a good gamble to leave solely to the desires/whims of the teenager.
When it comes to a college education, I believe our system has conditioned many to believe that a traditional college experience, a prestigious name, and a high sticker price are indicators of the quality of the education and how well it prepares the student for the future. That's simply not the case these days. Going forward, we are likely to see further upheaval as the costs to attend college continue escalating and get further out of reach for students.
I've rambled enough.