I can maybe do a tutorial if you’d like

all i can say is that it develops over time, reference real life pictures (and/or art IF you have permission), study anatomy (I recommend looking at skeletons, muscles, etc. especially for realistic, but dont be afraid to occasionally break these rules in a more cartoony art style for effect) just look at art + pictures a lot, drawing books work for some people (didn't work for me lol) cartoony styles and realistic styles are very different, but for both I'd definitely recommend you look at artists you like and integrate what parts you like into your own, you'll find your own personal style later just try your best, even if you don't like how you start out; you'll get there. its different for everyone :] but i'm a stranger on the internet that draws furries, so take this with a grain of salt.

When drawing use a bunch of references as a start! It give you a better look at anatomy and even shading! I also like to take key memories of different times with a certain lighting happens! Like when I’m on the bus in the afternoon I take a long look at the way the lugging and shading is and I remember it while I’m drawing!