Musannaf Ibn Abi Shayba 18:682

Abu Bakr narrated to us, he said: Sahl ibn Yusuf narrated to us, from ‘Amr, from al-Hasan, regarding a man who commands a young boy to do something without the permission of his family, and the boy perishes: He said, "Upon him is the liability (daman)." If he had sought the permission of his family, then there is no liability upon him. And regarding the slave, it is the same as that.