A Manager’s job is not to make people stressed out at mind with work. It is to make people tired at body and rejuvenated at mind. Rejuvenation at mind is due to the happiness of having crossed boundaries, set new milestones, achieved new targets and explored the potentials of self.
Stress is built only when you feel you have a limitation to achieve something. When you feel helpless, less confident, less skilled and develop a fear of not reaching the goals is when you feel stressed.
And you can tire at body only when you are young. So make your team members work hard when they are young so that they can reach those heights from where they do more of mental work, strategic activity than physical activity like execution or long hours work when they grow older.