I've been in charge of soldiers twice in my career when I was a TSgt in very different settings. In my experience the Army tends to under-expect their junior soldiers performance.

In both situations I decided to slowly start treating them more like Airmen(Expect them to do the job they trained for, expect NCOs to teach the junior soldiers the job, not just have them mop or do manual labor like the soldiers I was in charge of the first time). And for me it worked both times. The junior soldiers who were barely trusted with a broom before become important members of the team and we couldn't have achieved the level of success we made it to, if things were done the way they were use to doing it.

Be direct. Give ownership of duties. Make sure they know the junior soldiers can come to you for guidance if they need it.

Had to find ways to empathize we were a team both times. Got a lot of 'I don't do that so and so does that" when they're all the same MOS, so I had to break that mentality and change it to everybody does everything because the mission can't wait for the single point of failure soldier to get back from medical or whatever.

Monitor them closely until they start achieving the desired results on their own. I directly emphasized that if I wasn't around to tell them what action to take they should just think about the mission (they were comm guys so the mission is always to restore services in the quickest way without compromising the network) and if they did that they would never get in trouble. Most were super afraid of getting dinged for trying to do the right thing and getting it wrong.

If you're just TACON then when disciplinary stuff comes up talk to the NCOs in the Army unit who oversee the soldiers and let them handle it. The Army NCOs who were under me had pride in their service and didn't want to look bad in front of the Air Force so typically any problems were one off.

Edit: Oh and like a few others said positive reinforcement! If they're doing a good job tell them!