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If they don't have you on payroll, don't determine your hours, don't directly supervise you then you could be considered and independent contractor.

Here is information directly from the IRS...

Check out the resources available from the above answer

Then...

Start telling everyone you know, meet or come into contact with that you are starting a business. Market your services...

One of your first to do items should be to contact an accountant and be advised on your options in terms of remaining sole, incorporating or forming an LLC.

Your local SBA chapter will also have...

There is no right way (hourly, rate or percentage) to pay residential cleaning staff. It boils down to what works best for your company. Will you be having them drive to multiple job sites, working...

For licensing start by visiting your state website and local county clerk office to determine if licensing is necessary in your area. If you will be collecting payment under a business name you will...