All they need to do is open FaceTime on their device or Mac (I'm presuming they already have set it up?), type in your name in the search bar (you need to be in their Contacts with your iOS device phone number), then click on the phone number.
Or, they can go to their Contacts, open your contact card, then click on FaceTime from there.
You also have to have FaceTime set up.
Cheers,
GB