And I suck at drawing straight, pretty outlines. How would one learn to do this?
Also, if you're using SAI, have a look at the Linework layer (next to the new layer button, the page with the pen), and make liberal use of the 'delete CP' function under the edit function. Play around with it and see how it goes.
Crown yourselves with ivy, grasp the thyrsus and do not be amazed if tigers and panthers lie down fawning at your feet.