וַיְצַ֞ו גַּ֣ם אֶת־הַשֵּׁנִ֗י גַּ֚ם אֶת־הַשְּׁלִישִׁ֔י גַּ֚ם אֶת־כָּל־הַהֹ֣לְכִ֔ים אַחֲרֵ֥י הָעֲדָרִ֖ים לֵאמֹ֑ר כַּדָּבָ֤ר הַזֶּה֙ תְּדַבְּר֣וּן אֶל־עֵשָׂ֔ו בְּמֹצַאֲכֶ֖ם אֹתֽוֹ׃
Il ordonna de même au second, de même au troisième, de même à tous ceux qui conduisaient les troupeaux, en disant: "C’est ainsi que vous parlerez à Ésaü quand vous le rencontrerez.
Kli Yakar
And this is the law of the peace offering which one will bring to the Lord. The phrase which one will bring to the Lord is not stated regarding all offerings, only regarding the peace offerings, which are accepted without sin, because they are closer to the Lord than all the offerings that come for sin. For this reason, it is written subsequently (7:29–30): He who brings his peace offering to the Lord shall bring his offering to the Lord. His hands shall bring the fire offerings of the Lord. In all of these, [the Torah] mentions to the Lord, for in these I desire, says the Lord. And look to the right and see that it does not mention for any offering that the owner should bring the portion for the Almighty with his own hands, except for peace offerings — his hands shall bring it. This is because anyone who has incurred the king’s anger and wants to appease and wipe away his wrath sends the offering ahead of him through a messenger, as Jacob said: I will appease his face with the gift that goes before me, and afterward I will see his face (Genesis 32:20). But one who brings the king a gift as a tribute and honor brings the offering with his own hands and not through a messenger. This is the difference between sin offerings and guilt offerings, which come for sins of action, and the burnt offering, which comes for sinful thoughts, versus the peace offerings. For those offerings that come to remove God’s anger, it is not appropriate that his hands shall bring them, as it would appear as impudence toward Heaven; therefore, he sends them through the priests. But the peace offerings, which are a gift and tribute, his hands shall bring them.