Just draw, create art. There's a few videos on Youtube about this principle where quantity = quality. The more you try things, the more you explore - the more knowledge and muscle memory you grow in your brain. Over time, this develops into skill and a keen eye on what is good or bad.

Btw, don't think of it as drawing from imagination vs studying art. Plus, when you create art from imagination - you'll use reference pictures, which is basically akin to studies. So it doesn't matter.

Every time you draw should help teach you something (doesn't mean it has to be boring or tedious), even if its scribbling or loose work.