In Greek, this sentence has aspects that are passive and that are in command form. Ironically, the "Go" which in English sounds as if in command form, is not only passive, but a participle. Instead of "Go" it should be a more passive "going," and most Greek scholars agree that "as you are going," would be a translational paraphrase that really does the most justice here. The "make disciples" (really "make students") is what is in command form BUT... one can't force another to become a student. One must be "seeking" in order to find "asking" in order to hear.
So I tend to think that the basis for the Great Commission is Deut. 6:7 ("You shall teach them diligently to your children, and shall talk of them when you sit in your house, when you walk by the way, when you lie down, and when you rise up.") which is done mainly through life example while being ready to teach those ready to be instructed both about Yeshua's work AND the instructions (Torah) of God.
Bottom line, in order to MAKE a disciple we must already have been discipled ourselves AND have the time to put into the learning of those who come to us wanting to learn.