A cross-sectional study on vocal pitch matching abilities, pitch discrimination abilities, and skills of the separation of a singing voice from a speaking voice of 4 and 5 years old children was conducted to explore their children's vocal pitch accuracies in singing, and associated abilities and skills. The following results were obtained: (1) 5 years old children had more accurate pitch matching abilities than 4 years old children. When Infants are from 4.5 to 5.5 years old, they may develop vocal pitch matching abilities significantly. Their developments may have a middle level or a high level. (2) Children with the level 4 of pitch matching ability had more accurate pitch discrimination abilities than children with the level 1 of pitch matching ability. Children with the level 3 of pitch matching ability had higher skills of the separation of a singing voice from a speaking voice than children with the level 1 of pitch matching ability. For Infants, vocal pitch matching abilities may be associated with pitch discrimination abilities and skills of the separation of a singing voice from a speaking voice. (3) Regarding children with a high level of vocal pitch matching ability, there were many children with a high level of pitch discrimination abilities. Regarding children with a low level of vocal pitch matching ability, there were many children with a low level of pitch discrimination abilities.