Answer:
Just like anything else, listen, learn, and practice.
Step-by-step explanation:
Listen: In order to develop more effective communication skills, it can help to simply watch videos of other people carrying a conversation or read a book with lots of dialogue!
Learn: Analyze and reflect on how different people go about communicating with others. After all, not everyone has the same personality type, so you will often find major differences in people's communication skills. (This is why the quiet or shy types do not participate in a conversation as much as an outgoing type.)
Practice: Your communication skills won't improve by simply studying others, you have to try it out and find your own style!
I hope this is what you were looking for!