Final answer:
A simple and familiar type of canon is called a Round. It involves the same melody sung by different voices starting at different times, creating a harmonious overlap.
Step-by-step explanation:
The simple and familiar type of canon being referred to in the question is a Round. A round is a musical composition in which two or more voices sing exactly the same melody but start the singing at different times so that different parts of the melody coincide in the different voices, but fit harmoniously together.
During the Renaissance, the Italian secular genre of the madrigal became quite popular. Madrigals often featured canonic passages. In contrast, a Fugue is a more complex form where a theme is developed in a imitative counterpoint, a Sonata is typically instrumental with multiple movements, and a Minuet is a type of dance music in triple time. The specific type of canon that is easy to recognize and sing by many is indeed the round, with "Row, Row, Row Your Boat" being a well-known example.