Pencil and paper man, myself. Didn't like the 'feel' of the digital set-ups; that said, if you have a tablet, you can get 'pens' (them that work in the same way as your finger on the screen) and use free drawing apps (the 'pens' are often free, too, when you buy certain gadgets; got one beside me which came with mum's phone case, but I rarely use it).
Other than that, practice makes perfect. It's mostly a matter of hand-to-eye co-ordination (and vice versa) and muscle memory. Even the 'masters' repeat and repeat again until it's second-nature (that's why there's often more than one example/version of a masterpiece).
Certain tricks for tricking the eye come after that.
(Just watched a promo video on Amazon for a cheap drawing tablet and it looked to be a lot of fuss and time for what I'd call a doodle)