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Truthfully the best way is to draw pictures with references. Not direct copies. Or draw things you see.
Doing so will allow you to see all the attributes of the subject. Angles, curves, folds, etc. You will begin to notice the finer details that make those pictures good and then incorporate them into your own drawing.

But honestly, I just draw off the top of my head and as such they always look... odd. I try to draw what is in my mind but it never works out right.

It is also good to always do the fundamentals:
-Do a small sketch of what you want to draw.
-Make an outline featuring circles for body parts, and sticks for limbs.
-I usually do the eyes and facial details next to try and give it life.
-...I and still pretty meh at clothing.

All in all, practice makes perfect and slowly but surely you will pick up little things. Like the head rule of thumb: 7 heads tall is an adult, 5-6 heads tall is a teen, and 4 heads is a kid.



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