Shari, I ask my son those questions everyday too! I also ask him what one thing he learned that day and what he did that was the most fun. But I don't do it like it's a test or I'm grilling him, I just bring them up in conversation through the evening. When he tells me something bad that happened then we talk about it and how he or whoever was involved could have done something differently to have helped make it better. It is pretty interesting what they come up with.
I also try this on my three-year-old and it's helped her alot with thinking about her day and what went on and is helping her communication skills and verbal skills a lot even though her experiences are not as wide since she's home all day.