Know specifically what they want. And make sure you've established with them a relationship wherein they can easily do so. Have a sit-down and talk about it. If your budget can't afford it, let them have their own whenever they can and agree to do so. If they're doing well, reward them.
Employees are people too.
Don't treat them like their only objective in life is to work for you, because this isn't the case. The only essential things about their working habits should be to meet company goals on time. Don't get them stressed out and pressured TOO much. It's a common maxim that ALL types of work entail stress and pressure. But it's also not fair to let too much stress and pressure.