You can start tummy time as soon as the stump falls off. For really little ones you might start with them on your chest, rather than putting them on the floor, but I would get started!
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As soon as their belly button nub falls off is when we started. We do a little each day. Usually it's just informal with DH or I laying on our back with him on our belly. Sometimes I will put him on his mat.
Re: What age do you start tummy time?
DD2 8.22.13
MMC 1.4.17 at 16w
Expecting #3, EDD 1.29.18
This!
Yup