(Parenting anecdote warning)
From my kids, I demand that they do their share of work (at home and later, in life), that they be kind and respect other people (but it's okay that other people may not always like it when someone sets their limits), and that they don't continue to do things for wrong reasons without thinking about it first (like doing stuff to mostly impress other people).
I listen to what they want and try to hear what's true. I give them few things only: kids always want a lot of things but I do force them to prioritize and think it over a couple of times, so that they will learn to listen themselves to what they really want. And that they will learn to appreciate the value of what they have. You can't have everything in life or everything will lose its value.
I let them make choices themselves, given that some final limitations are followed. For example, they can wear what they like as long as I've checked they've got enough clothing so that they'll be warm. When they're spending their money, they can do whatever they want with it. For example, they can invest all their money in candy; however, I don't let them eat candy every day all over the week as we have specific days for goodies.
That's pretty much it. I don't have any vocational or educational goals or hobby-wise demands for them. I trust that they will eventually do what they simply can't not do. Long idle periods may precede but that's okay. As long as you're alive, time is indefinite.
I don't claim to have—or gain—control over their lives and choices, barring some rules they as kids need require and with regard to the physical world. I consider it good to be humble enough to understand that I have no idea whatsoever of what's best for them in their lives. I might have an idea or two about what I would do and I sometimes talk about that but I don't dare suggest they had to follow.
I don't always know how to do all that. But most of the time I think I get it right eventhough I'm still learning myself. I'll just mostly try to be there when they need support. And that's hard and demanding too, and I think that too often I can't do that either.
But I'm pretty confident that when a couple of kids live with me for about 18 years in a rather intimate living arragement, something will stick and that imprint will be close to what I wanted to say. Time only will tell if I turn out to be right or wrong but I merely hope they'll find it valuable, one way or another.