I know in advance that people are going to see this question and think "free Red Bull." But I am actually looking for the best way to tie rewards for developers to the company's long-term goals.

For example, assuming a team is working on the same software product, would it be best to reward each developer based on the condition of the final product? They are a team after all, and this will ensure that they are all working towards the common goal of getting the product out. However, this ignores the fact that some developers are stronger than others and some work harder than others.

In your experience, what is the best way to incentivize a team of developers?