Should I allow my teammates to make mistakes, so that they can learn from them?

Hi, I am working to become a tech lead at my company and my manager posed me this question:

If I become a tech lead, should I allow my teammates to make minor mistakes so that they can learn from them?

His reasoning was that people will learn much more from a mistake than from direct guidance, and that we could take on the cost of a small mistake, so that the team can grow.

What are your thoughts on this?