Do you leave a tip for housekeeping if you're only staying one night in a hotel?

Is it a 'thank you for prepping my room' or 'please clean my room today'? If you tip post cleaning, it's likely going to someone else the next day. Many hotels now only do housekeeping on demand. How do employees feel about this - do they miss the tips or are they happy for a less stressful workday?

ETA- I'm in the US. Does the rest of the world tip housekeeping? I always have when traveling because I do at home, but I don't know what the norm is.