Thanks to freedom of movement, you can travel to Germany without a visa or a residence permit and stay here for a period of three months. You only need a valid passport or ID card to enter the country. If you are planning to stay in Germany for longer, you will need to proof that you can cover your living expenses (and if appropriate also those of your dependents). There are no restrictions on access to employment and self-employment in Germany for you and your family.
Further information at Make it in Germany.