Police said the four boys, one aged 14 and three aged 15, all from Telford, have been charged in relation to the death on Friday, June 11.
They appeared at a hearing held at Kidderminster Magistrates Court on Tuesday.
A 41-year-old man and 42-year-old woman were arrested on suspicion of assisting offenders and have been released on bail while enquiries continue.
All six were arrested on Friday after a 26-year-old man was seriously injured near Stonebridge Close, Aqueduct, at around 7.20pm.
Police say that the victim was taken to hospital by air ambulance but died later that evening. Formal identification is yet to take place.
A spokesman said: "Four boys, one aged 14 and three aged 15, all from Telford, have been charged with murder."
"The investigation is still ongoing; therefore we ask the public not to speculate and to consider the family during this difficult time."
Residents of Stonebridge Close were left "shocked to the core" and reeling by the news on Friday.
The youths were all remanded in custody following the hearing and will appear before a judge at Stafford Crown Court on Thursday.
Paying tribute to the alleged victim Kiaya Roberts, of Telford, posted on Facebook: "You was the most kind hearted person ever, love you always."
Following the incident Chief Inspector Helen Kinrade, of West Mercia Police, said: "We would like to reassure the public that the investigation is ongoing and this is believed to be an isolated incident.”
The force has also appealed for anyone with information to contact 101 quoting reference 615i of 11 June.