Practice, and follow a process that enables engineers to internalize the design as well as communicate it. For example FDD encourages creating an agile model t

Practice, and follow a process that enables engineers to internalize the design as well as communicate it. For example FDD encourages creating an agile model that the team agrees to, and then creating a 3 level WBS for the next 3 months, with estimates. Give it a go, and then when you realize your team didn't do well the 1st time, call it and then try again. By the 3rd time you'll have built enough skill to start getting within a reasonable ballpark.