I would assume that for a school panto the lighting will be pretty rudimentary, and will not be changing every couple of minutes. On that basis you may well find shooting with manual exposure to be the best approach, because once set correctly it should remain correct throughout the performance. It might take you a few stabs to get the right exposure dialed in, but once set you will be able to focus your attention more on the timing and composition of the shots. If the light levels are uneven, or constantly being adjusted, then manual exposure will not work well for you and you will probably be better off letting autoexposure do most of the work for you.
If you use an autoexposure mode then it is possible that the exposure will bounce around a bit depending on the composition and content of the scene - lots of dark stuff in the scene will lead the camera to overexpose while lots of bright/light/white stuff will have the opposite effect. You can try to ride the exposure compensation control to cope, or just let the camera do its thing and hope for the best.
Your lenses are slow, I'm afraid, and if the light levels are low as you suggest you are going to have to crank up the ISO in order to achieve adequate shutter speeds. I imagine (and hope) that 1600 ISO will be enough. If you do choose to shoot with autoexposure then I think your best bet would be to shoot with the lens wide open to grab as much light as you can. The shutter speed will have to end up wherever it may. If it is too slow and you get blurry shots then you will have to go to 3200 ISO. Never mind noise. You can do more with a noisy shot than a blurry one.
If you do shoot manual then you need to be aware that your max aperture will change as you zoom, which could throw off your exposure. Your distance from the stage is quite important too. The shorter lens will be easier to hold steady at the wider angles, but the long lens will deliver f/4 at 55mm whereas the short lens will be at f/5.6 at that point, losing you a stop of light which you can ill afford. I don't know the ins and outs of the performance of each lens but I'd guess your best results will come from using the longer lens at around the 55mm mark, but you'll have to position yourself wisely to make that focal length work for you. At least that will give you the option for some nice close ups, maybe.
I'm afraid so much depends on just how brightly lit the stage is, how fast the performers are moving and your own skills at shooting with a steady hand and smooth action. A tripod may help, but probably won't be allowed for safety reasons. The choice of lens will be dictated ultimately by where you are positioned relative to the stage. Will you have freedom to choose? Will you have a good sight line? Unfortunately it is impossible to tell you what settings will work best because there are too many variables. I think on balance the best I can suggest as a starter is......
Evaluative metering, Av mode, aperture wide open, 1600 ISO, no flash. Monitor shutter speeds and adjust ISO if you have to. If you shoot to JPEG then you will need to set your white balance correctly before you start shooting. If you shoot raw then you will be able to adjust white balance after the shoot. If the stage lights are tungsten then I would recommend using the tungsten preset. If the lights are of some other type then either a custom white balance or auto will probably be the best options. Shooting raw will definitely give you an escape route if it all goes a bit pear shaped.
If you're desperate for light then flash may be your only option, but it will probably produce unattractive results and spoil any creative intent behind the design of the stage lighting. At 1600 ISO the builtin flash will have a reach of up to around 8m-12m at f/5.6, so in theory it could give a kick to the light, but it is an option I personally would try to avoid. At the end of the day you will have to evaluate the results while you are there and do the best you can.
Maybe others can offer some more useful advice. Either way, good luck.
