To engage people you must set them a vision and an objective (first step towards the vision) and then let them get on with it. The fact that they may do it differently to you - don't worry. As long as they are within you boundaries of values give them the freedom to find out their own path to success. That freedom shows trust and respect - it may also help you to learn something new!
Too may managers give step by step guides of not just what to do but also how to do it...leaving the employee thinking why bother the manager might as well do it themselves.
So remember give the destination not the path - even if they get lost, coach them how to refind the path.