Open Minecraft
Go to Play
Select or create a world
Turn on Multiplayer or Invite Only settings if needed
Open the pause menu
Select Invite to Game or Invite Players
Choose friends from your friends list
Send the invite
For Java Edition, open the world to LAN or join the same server
For Bedrock Edition, add them as a friend on your platform account
For Realms, open the Realm settings and invite players by gamertag or username
Make sure everyone is using the same Minecraft edition and compatible version