Housekeeping Staff at Hotels - Tip question

I typically tip housekeeping everywhere I stay, but be aware that simply leaving money on a bureau when you depart that the money may not be picked up by the person you intended it for, and in many cases, staff is told to not take anything like money in those situations.

So when I tip, I hand it directly to the person(s) who have been tending to my room.

Hotel staff is tipped by the guide on Rick Steves tours.
https://www.ricksteves.com/travel-help/tours-faq

We were told in one country, do not remember which one, to place cash tips on the bed pillow for the cleaning staff. That was where they expected it to be.

To quote from LIZinPA’s link - it says specifically that housekeeping is tipped and to please not tip beyond this.