We are all familiar with a line or a plane in $\mathbb R^n$.
Perhaps we are also familiar with the generalization to arbitrary dimension $k$ with $1 \le k \le n-1$ (the cases $k=0$ and $k=n$ could also be included, but for intuition's sake I'll leave them out of this discussion). Let's refer to this as a "flat $k$-dimensional subspace" in $\mathbb R^n$ (a more mathematical term is an "affine $k$-space").
At the most intuitive level one can now say:
A $k$-dimensional manifold in $\mathbb R^n$ is a subset of $\mathbb R^n$ which looks, locally, like a flat $k$-dimensional subspace in $\mathbb R^n$.
And I might go on to give examples to shore up the intuition, for example a sphere in $\mathbb R^3$.
To formalize this one further step but still keep some intuition, one can use the idea of graphs. A 1-manifold in $\mathbb R^2$ is a subset which looks, locally, like a line. But, we might also want to capture the intuition that the line can be curved. To do this, we add one more layer of formality, which might not be understandable to someone who studies no math, but would at least be understandable to an undergraduate who has had some multivariable calculus. Here's one special case:
A 1-manifold in $\mathbb R^2$ is a subset which looks, locally, like the graph of a smooth function, having one of two forms: $y=f(x)$; or $x=g(y)$.
And, more generally,
A $k$-manifold in $\mathbb R^n$ is a subset which looks, locally, like the graph of a smooth function, having one of several possible forms: for example, $(x_{k+1},...,x_n) = f(x_1,...,x_k)$; or more generally of the form $(x_{i(k+1)},...,x_{i(n)}) = f(x_{i(1)},...,x_{i(k)})$, where $i : \{1,...,n\} \to \{1,...,n\}$ is a permutation.
Again, to shore up the intuition I might write down some formulas for the sphere in $\mathbb R^3$, such as $z = \sqrt{1-x^2-y^2}$ for the upper half-hemisphere and five other similar formulas to cover the lower, left, right, front, and back hemispheres.
Only in the next step of formality would I bring in open subsets in order to formalize the meaning of the phrase "looks, locally". I wouldn't expect someone who studies no math to follow at this point, nor even an undergrad calc student, but at least this could make sense to an undergraduate math major. And at this stage the definition would no longer be just intuitive, instead it becomes the complete definition:
A subset $M \subset \mathbb R^n$ is a $k$-dimensional manifold if for each $p \in M$ there exists smooth function of the form $(x_{i(k+1)},...,x_{i(n)}) = f(x_{i(1)},...,x_{i(k)})$, where $i : \{1,...,n\} \to \{1,...,n\}$ is a permutation, and there exist open subsets $U \subset \mathbb R^n$ and $V$ of $\{(x_{i(1)},...,x_{i(k)})\}$, such that $U \cap M$ is equal to the graph of $f$.