How do you train your child to not be a wimp without being abusive?

personally I let my children do stuff that they get hurt by to learn from it like if they climb on something I'll tell them they'll fall and get hurt, but then when they do and do get hurt then they learn that it hurts to fall down, and etc.and I also unless there really hurt tell them there okay and they just stop crying and are fine. they get bumped or hurt and most of the time don't even cry. some kids I see are far from them and they are babied all the time with the smallest scratch it drives me crazy to watch them it is the parents fault when they act like babies for small things. kids don't need to be babied they are not babies but they do need a hug for big stuff not a small scratch.