The best way in my opinion is to write, and write more. Once you write your first doc, send it to someone who you believe may be your target audience and have t

The best way in my opinion is to write, and write more. Once you write your first doc, send it to someone who you believe may be your target audience and have them critique it. What’s confusing to them? What’s not? It’s no different than writing code or writing a book. It takes time, iteration, and focus. Personally happy to review a doc or two and provide feedback if that is helpful. I run a docs site for my company.