The biggest reason many managers are bad managers is because they haven't defined measurable goals and outcomes for the individuals on the team and for the team as a whole.

This leads them to micromanage, be stressed and every other characteristic associated with the stereotype.

If you are able to define measurable outcomes/goals - then how those are achieved really should be left in the hands of the individuals/team.

This is what makes you (imo) a capable manager.

If you want to take it up a notch, learn how to motivate them.

I highly suggest watching

a) Dan Pink's talk on Motivation for this (and perhaps also picking up his book "Drive"): http://www.ted.com/talks/dan_pink_on_motivation and

b) Simon Sinek's talk on leadership (and also picking up his book) on starting with why: http://www.ted.com/talks/simon_sinek_how_great_leaders_inspi....

I think this will give you a strong foundation to build off of.