First FM 6-22, ATP 6-22.1, and ADP/ADRP 6-22 provide some great information on the subject. Here are two methods I used to include my Soldiers in the counseling and evaluation process.
First, I always carried a notebook with me. I dedicated one page of my notebook to each Soldier. I would annotate daily items that occurred: What they did well, What they did wrong, Things they did to help the team, When they are recognized for something by members of the chain of command. I then used this information to develop my monthly and quarterly counseling statements.