1. Be transparent with them. The day will come you have to override a technical decision for a business reason, tell them the truth be direct, honest & transparent.
2. Provide them with feedback regularly. It should be honest feedback but recognize that even when things are broken it takes a lot of energy so show them that respect.
3. Highlight & publicly praise people for doing things above and beyond. Don't expect it, and even people that say they don't like it, appreciate it in the end. This is because a lot of times it isn't for them, it is so the rest of the team sees it and appreciates them and sees they can get the same.
4. Don't micromanage their tasks. Set goals and hold them accountable, but don't be the PHB (https://en.wikipedia.org/wiki/Pointy-haired_Boss).
5. Pay a good wage and provide solid benefits for people. You don't need to supply crazy benefits, give good pay with fair benefits.
There are a ton more things I could add, but these are common things I see people make lots of preventable mistakes and cause culture and team problems.
You drive the company and your employees are the force to get you where you need to go.
Also be careful with buying their loyalty via ever increasing benefits. This leads to a cycle of being disappointed with what you have and wanting more, no matter how much you get.