Source: Starfinder Core Rulebook p.62
As a standard action, you can signal an ally within 30 feet who has taken damage from any attack made by a significant enemy at any point after your last turn ended. That ally regains a number of Stamina Points (up to his maximum) equal to twice your envoy level + your Charisma modifier; at 15th level, this increases to three times your envoy level + your Charisma modifier. Once an ally has benefited from your inspiring boost, that ally can't gain the benefits of your inspiring boost again until he takes a 10-minute rest to recover Stamina Points.
At 6th level, you can spend 1 Resolve Point to add your envoy level to the number of Stamina Points regained.