Teach, model, practice, feedback, generalize, maintain.
Direct teaching names the skill and its steps. Modeling shows it, including a version that goes imperfectly. Practice is role-play then in-vivo. Feedback is immediate, specific, and starts with what worked. Generalization moves the skill to other settings and people. Maintenance plans for the skill surviving after you fade.
Skipping generalization is the most common failure: participants perform well with you and nowhere else.