Introduction
Usually Bayesian Networks are defined as follows. Let $(\mathcal{X},\mathcal{P})$ be a probability space, and let $X_1,...,X_n$ be random variables on this space with values in $\mathbb{R}$. Let $G$ be a DAG with vertices bijective to the $X_i$'s. Then the space is said to be Bayesian with respect to $G$ (or Markovian, etc.) if $$P(\forall i\, X_i=x_i)=\prod_iP(X=x_i|PA_i=pa_i)$$ where $PA_i$ are the parents of $X_i$ in the graph and $pa_i$ are the values among $x_1,...,x_n$ of $PA_i$, and where the equality is whenever defined.
Problem
The definition above is only defined for discrete variables; otherwise $P(PA_i=pa_i)$ can be always a probability $0$ event. Therefore this is not a rigorous definition. (This is the definition that is written on wikipedia, despite conditioning on probability $0$ events.)
Guidelines
I am looking for a definition that is as natural as possible. Ideally one that does not refer to pdfs, does not assume that the $X_i$'s take values in the reals, etc. I presume this will use the concept of a conditional mean, which usually solves problem of making non-rigorous definitions rigorous going from discrete variables to continuous, but I couldn't figure out how to do it.
Abstraction and rigor are central to my question.