there are numerous ways to teach your child to be self sufficient. a lot of it depends on the age of the child. teaching them in small ways can be very beneficial in years to come.
you can teach them simple things such as picking up their toys or brushing their teeth without being told to do so.
rewarding a child with praise or little extras is the best way i have found for positive reinforcement and will generally have them repeat the same behavior over and over again.
a child at the age to earn an allowance is a great tool for self sufficient behavior. after they earn so much, take them on a shopping spree or open an account with a credit union or bank where they can deposit their cash.
there are unlimited ways to make your child be self sufficient. evaluate the child and different opportunities that present themselves.