Place both AirPods in the case and open the lid.
For many older models, press and hold the setup button on the back until the light flashes white.
For newer models without a rear button, the pairing procedure differs; follow the procedure for your specific model.
Open Settings → Bluetooth & devices.
Turn Bluetooth off, wait 10 seconds, then turn it back on.
Select Add device → Bluetooth.
Keep the AirPods case open and close to your laptop.
Additionally:
Run the built-in troubleshooter. Go to Settings > System > Troubleshoot > Other troubleshooters > Bluetooth > Run.
Restart the Bluetooth service. Press Win+R, type services.msc, find Bluetooth Support Service, right-click and choose Restart. Make sure its startup type is Automatic.