1) Once you hire a new person, tell them that you expect them to make 10-20% mistakes.
Provide them with a) some sort of margin of error in favor of speed and also b) so they don't irrationally overanalyze every single decision to think they are not making any mistakes and being anxious about it.
2) Make your team members come up with solutions
If you are the team lead, your job is to make the people below you better and get road blocks out of the way. However, you are also likely busy. To make your team more independent by making them more comfortable with calling the shots, getting the experience in while still getting your input, they should almost never come to you with problems only, but with problems and a) 2-4 proposed solutions, b) pro and cons of each and c) your ranking and reasoning for the ranking.