Draw with a light touch on the pencil. Addressing the paper with the side of the pencil point instead of the tip helps a lot - this stops you from making a tren

Draw with a light touch on the pencil. Addressing the paper with the side of the pencil point instead of the tip helps a lot - this stops you from making a trench in the paper with graphite at its bottom, and forces you to use a broad line without much detail for blocking things in. (This also helps to train you to draw with your wrist static, which is a good way to keep repetitive stress injuries from happening. It was one of the first things the old pros taught me when I started working in animation, because they had all seen careers cut short by injuries from bad form.) As you add detail, shift to the tip of the pencil. Your hand will probably smudge the first lines into nothingness as you do this, it’s not a big worry. Grab a white plastic eraser or a kneaded eraser, and go at it. If you decide to go from pencil to ink, you can put some thought into your choice of ink to select one that dries quickly. You can also wait a bit for the ink to dry before erasing. White paint/ink does exist but it’s real hard to find some that works well in a portable pen format.