Anyone can set goals for anyone in their team, whether they are a manager or not.
First, go to "My space"
Now, go to “Goals” and click on the “Add New Goal” button which lets you assign objectives to different people. These objectives will be visible from "My Space" to you and to the person they are assigned to.
Additionally, if you create a 1:1 meeting with that person, you will be able to see these goals and comment on them from the meeting itself.
Finally, you can create and manage goals directly from your 1:1 as it is ongoing. When you create an action item, you can either assign it to an existing goal or create a new goal from that action item.