An $\text{interpretation}$ of a theory consists of
A domain of discourse $\mathcal U$, usually required to be non-empty.
For every constant symbol, an element of $\mathcal U$ as its interpretation.
For every $n$-ary function symbol $f$, an $n$-ary function $f :\mathcal U^n\to\mathcal U $.
For every $n$-ary predicate symbol, an $n$-ary relation on $\mathcal U$ as its interpretation (that is, a subset of $\mathcal U^n$).
My question is:
What does a model of $\sf ZFC$ look like? Given that (via $\sf ZFC$) we're trying to axiomatize set theory, how can we describe what a "domain of discourse", a "function", a "relation" mean (as this are (naive?) set theory concepts)?
Could someone explain this in relatively simple terms?
A model of $\mathsf{ZFC}$ is an appropriate structure that satisfies the axioms of $\mathsf{ZFC}$.
The "appropriate structure" is essentially what you quote: but in the case of the language of set theory, which just has one relation ($\in$, i.e., belonging), it simplifies a lot: a model of the language of set theory is just a set $M$ (the "universe of discourse") together with a binary relation $\epsilon$ (destined to correspond to the $\in$ relation of set theory).
However, a model of $\mathsf{ZFC}$ is much more than just a model of the language of set theory: for this, the relation $\epsilon$ has to satisfy a lot of extra constraints, namely the axioms of $\mathsf{ZFC}$. In other words, take every axiom of $\mathsf{ZFC}$, replace every $\forall x$ by $\forall x\in M$ and every $\exists x$ by $\exists x\in M$ and every $\in$ by $\epsilon$, and require them all to hold (for example, the axiom of the empty set of $\mathsf{ZFC}$ says that $\exists x \forall y \neg y\in x$ so we require that there exists $x\in M$ such that for no $y\in M$ does $y\mathbin{\epsilon} x$ hold).
Set theorists are usually interested in "transitive" models of $\mathsf{ZFC}$. A transitive model of $\mathsf{ZFC}$ is a set $M$ which is transitive (i.e., if $x\in M$ and $z\in x$ then $z\in M$) such that the $\in$ relation on $M$ satisfies all the axioms of $\mathsf{ZFC}$. What this last part means is that if you take all the axioms of $\mathsf{ZFC}$ and replace every $\forall x$ by $\forall x\in M$ and every $\exists x$ by $\exists x\in M$, they are still true (we say that the axioms "hold in $M$"). In other words, the structure is $M$ with the relation ${\in}|_{M\times M}$ (i.e., the set of $(z,x)\in M^2$ such that $z\in x$), and we again require the axioms of $\mathsf{ZFC}$ hold.
In practice, being a transitive model of $\mathsf{ZFC}$ means intuitively that $M$ is a set "large enough" and "complete enough" so that all the operations of $\mathsf{ZFC}$ (e.g., taking unions, taking power sets) can be done in $M$. This is a bit simplified, because some operations are not "absolute" (e.g., the powerset in $M$ might not be the real power set) whereas others are (e.g., ordered pairs in $M$ will be real ordered pairs), but it should at least give some kind of idea.
Now $\mathsf{ZFC}$ cannot show that models exist (whether transitive or not), so examples of them can't be exhibited (unless we assume some extra axioms like the existence of inaccessible cardinals), but we can get some intuition of what they would look like by considering near-models. The simplest one consists of taking the empty set and repeatedly taking power sets through the ordinals until we get "far enough" that it looks like the universe of all sets (which can be obtained by doing this through all the ordinals, but this doesn't give a set). For example, if we do this just $\omega$ times we get a model of Zermelo set theory (i.e., $\mathsf{ZFC}$ without replacement).