I don’t have a reference available but the concept of ‘Mission Command’ used by the UK Army amongst others contains the best and most succinct description I’ve seen of how to delegate a task to a subordinate. And is perfectly suited to many civilian situations as well. From memory, and paraphrasing, it boils down to

State what you, as the leader, are trying to achieve, and why ('the big picture')

State what you want the subordinate to achieve

Define the resources available to the subordinate, and any constraints

Say how you want progress / issues to be reported

You don’t define how the subordinate should carry out the task – if they are competent and you trust them, they should be able to figure this out themselves.

[Edit] - the military distinction between command and control is also relevant to the civilian distinction between leadership and management. Paraphrasing slightly: Command is getting people to do something. Control is stopping them from doing something else.