The usual definition of a function $f : X \rightarrow Y$ is: a relation $f \subseteq X \times Y$ such that for all $x \in X$ there exists unique $y \in Y$ such that $(x,y) \in f.$ Under this definition, there is a unique function $f : \emptyset \rightarrow Y$ for each set $Y,$ namely the empty relation.
Furthermore, we can define that a function $f : X \rightarrow Y$ is injective iff for all $y \in Y$, there is at most one $x \in X$ such that $(x,y) \in f$. Under this definition, the unique function $f : \emptyset \rightarrow Y$ is indeed injective.
Finally, I think a good definition of $X \lesssim Y$ is the existence of an injection $X \rightarrow Y$.
So, if you accept the above definitions, then you must agree that, since there is an injection $\emptyset \rightarrow Y$ for all sets $Y$, thus by definition we have $\emptyset \lesssim Y$.
Now. Let $X \cong Y$ mean that there exists a bijection $X \rightarrow Y.$ You need to show the following.
$\lesssim$ is compatible with $\cong$
So too are the operations $\uplus$ and $\times,$ defined in the usual way.
If you've done that, you're nearly there! Let $|*|$ denote a function such that $X \cong Y$ iff $|X| = |Y|$, and enforce the definitions of order, addition and multiplication.
$$X \lesssim Y \iff |X| \leq |Y|$$
$$|X \uplus Y| = |X| + |Y|$$
$$|X \times Y| = |X| \cdot |Y|$$
This is legal because we proved compatibility with $\cong.$
Finally, after all that work, you can (and should) prove that an initial portion of the cardinal numbers satisfies the Peano axioms. To do this, you'll have to take $|\emptyset|$ as your $0.$ Furthermore, it shouldn't be too hard to show that no other choice will work, since after all we already know that $\emptyset \lesssim Y$ for every set $Y$, so in general we have $|\emptyset| \leq |Y|.$