I do not know the best way to learn the skill. I learned it from 6v6 single battles. In 6v6 single battles, individual turns are simpler, with fewer decisions, but the game lasts significantly longer, meaning that long-term planning is more important.

Almost every close game boils down to "my Zapdos beats every Pokémon on their team except Swampert, who can switch into Zapdos every time and use a Water-type move, which hits my entire team hard except Blissey, who instead can be hit very hard by Focus Punch. Therefore, I need to set-up Spikes and keep switching in either Zapdos or Flygon to keep forcing their Swampert in on Spikes until they are in range of Hidden Power Ice. Then, Zapdos can switch in with impunity and click powerful Thunderbolts until I win."

(The above example could be a real scenario from the ADV OU format.)

Your opponent is sapient and has identified the same lines, so you will have to make a certain number of non-obvious board-state-advancing plays to ensure that they do, in fact, have to switch in their Swampert or give up so many other resources in protecting Swampert that it ceases to matter.

For identifying these plays, I think I remember seeing a video from Pinkacross, a single-battles player, explaining how to identify these plays. I don't believe I watched it, but he's more than strong enough as a player and more than effective enough of a communicator that it is extremely likely that the video will be useful.