Da'wah is (فرض كفاية) meanings if a certain group of people of a community raise/come up and do da'wah, than the obligation of Da'wah is taken away for the rest of the community. But because we are in a corrupt age, Da'wah is (فرض عين) on every Muslim according to their ability and knowledge.
Ibn Baaz said:
“At a time when there is a shortage of callers, when evil is prevalent
and ignorance dominates, da‘wah becomes fard ‘ayn on everyone
according to their ability.”
Da'wah has three aspects to it.
- The call/message
- The caller
- The called
now number two, the caller, in Arabic is (Adda'ee/الداعي), and the caller is the one who gives or spreads the message of Islam, you may also call the person a missionary or anything else that is it's synonym. So one cannot say there are no missionaries in Islam, as for organized missionaries, as I mentioned above, Da'wah is obligatory on all Muslims according to their ability, and their knowledge. It is part of Da'wah to at least have a Da'wah plan, what to do, how to present, and so on.
Sources: Islamic online university, Da'wah training course, module 1