When I've had goals like this, I have used feedback from staff as a measure of improvement, as other answerother answer mentions, but you could also use a measure of time. If you're recording time spent on tasks, and can categorise some of those tasks as "mentoring", then you could have a target of "at least 5 hours a month" or "spend 5% of project time mentoring" or similar, that you can then track via timesheets/agile tools.