Wrapping around the the fingers and developing the ratcheting movement with your hand to move the yarn along seems to be the way to develop this.

Practice helps a lot.

I think it’s easier to start with a yarn that has a bit of natural flex.

Cotton is often recommended because it produces nice clean crochet stitches but it’s unforgiving in terms of tension. Fine if you’re wanting to start off with dishcloths in handicrafter yarn, but otherwise not a great thing for novices.