They do not need to file. But, it is NOT because you are filing the 1098-T, on your return. You are not allowed to report their income on your return (you are allowed to claim their tuition for a tax credit*).
They do not need to file, for $5000 +/- of taxable scholarship income, assuming their total income (each) is less than $12,200 and they each have less than $1100 of investment or misc income.
Even though box 5 of the 1098-T exceeds box 1, you may claim a tuition credit, if you designate some of the scholarship for Room & Board. Using an example: Student has $10,000 in box 5 of the 1098-T and $8000 in box 1. At first glance he/she has $2000 of taxable income and nobody can claim the American opportunity credit. But if she reports $6000 as income on her return*, the parents can claim $4000 of qualified expenses on their return.
*She doesn't actually need to file a tax return, since the total is less than $12,200.