How to define team goals so they are actually achieved (and don't just stay on paper)

Every manager should know that without a clearly defined vision and goals for individuals and the whole team, their subordinates can never achieve maximum success. Unfortunately, many managers dismiss this notion: they merely write down the goals, present them to the team, and that is the end of it. But this is not the best approach. How do you define and present team goals so the team is genuinely motivated to achieve them?