Experience Building... Employee vs. Entrepreneurs...

The question I continue to battle is: 

"Can you give someone the experience of Entrepreneurship under the structure of Employment?"

I feel as though my company has been split into to camps, the employees and the entrepreneurs.  When the Detailing Knights was first created we wanted to create a company that would be able to employ people. Then I realized that having employees that just executed what you tell them was not really empowering so we started a entrepreneurship pilot. The initial entrepreneurship pilot was not structured enough and the results were not justifying the effort.

So far my efforts have failed when leaning to far to either side so our next cohort in 2015 will see if we can bridge this gap.  Trying to figure out the balance between the stress an entrepreneur feels and needs to power through and the complacency of an employee just looking for directions and instructions.

I do truly believe that an Employee will not get the same tangible experiences as an Entrepreneur will in the same time span but entrepreneurship is painful and the majority of the population cannot stomach it.  What do you think..

Is the pain the basis of the benefit or can the entrepreneurship experience be designed minus the life or death anxiety?