The most practical, lightweight way is to share your availability by inviting people into your normal life. If you try to create too many new environments just for them, it gets heavy and exhausting.
Seeing you in your everyday is more transformational than watching you teach a Bible study. Being invited into the culture of your home leaves a much deeper impression than reading a book together.
Ask clear questions about what they expect and hope to receive from your relationship. Let it evolve naturally — check in and revise as needed.
The beauty is that this is totally relational. So if you have two people you’re discipling, they can both come. If you have a family at home, you don’t have to leave them to invest in someone else. It’s actually better if you don’t so you’re not spread so thin, having to prepare something special for several different audiences. It’s much simpler, more sustainable, and can become part of your lifestyle.