Proper way to resign from a job

I’ve recently accepted a job offer from a better company that comes with a substantial pay increase and bonuses, but I have yet to tell my current boss. My currently company is a small start-up so there’s very few people on my team which made me developed a close relationship with everyone and since I’m a very big people pleaser, I find it daunting to tell my boss I’m resigning. Is there a way I can let them know I found another opportunity without negatively impacting future relations?