It's a talent, some have it some don't. I can't draw a stick person. My son can paint a Rembrandt, as well can one of my sisters, but me no way.
There are plenty if books that teach drawing. You can get them at most craft stores like Michael's or Hobby Lobby. Or even your library. There are also lots of YouTube videos. Other than that practice makes perfect.
I think it's a talent you have to have. Practice and schooling helps.
I'm worse than Charles I can't draw a straight line with a ruler .