Very simply, application of the Golden Rule (“Do unto others as you would that they should do unto you”). Basically I tried to be “hard but fair.” And most basic of all, praise in public and criticize in private.
Be clear about what is expected from subordinates but give vent to and encourage their initiative.
Know your people. I’m not talking mollycoddling or improper fraternization, but observe and listen to your officers and Chief Petty Officers.