Yes, according to this link from IRS.com, the deadline was February 1. Since each cleaner made more than $600, each would need to receive a 1099-NEC. You would need to have their social security number to issue the form.
Please review IRS penalties regarding the untimely reporting of 1099-NEC at this site location. This location lists 2020 information but the information is the same. Look under the schedule for small business. It looks like $110 per return or statement up to August 1.