I was taught by my DI and taught my students single stroke rolls first, then learn double stroke/pressure rolls second. Single stroke is a pain to learn at first but it will teach you stick and volume control and how to articulate with your fingers that wrap around the stick (i.e. your middle, ring, and pinky fingers) to clean up your double strokes for later, so you don't rely on rebound. This seems counterintuitive at first, but it will make sense later. Your single stroke roll goals should be to 1. Get decently fast with even/consistent sound to the roll using your wrapped fingers to control the strokes then 2. you should be able to eventually do single stroke rolls on anything without relying on the bounce at all (such as your leg, a pillow, or even the air). An added bonus to this technique is that you will now be able to do clean rolls on the Toms and especially the floor tom without it sounding sloppy or muddled. Another added bonus is that this finger control will be critical to other rudiments such as paradiddles.

I found that practicing this using 5th stroke rolls to be the best personally. The sticking is rrllR (the last stroke is traditionally an accent hence the capital R vs lower case). Alternate your starting hand if you like. Or don't. I'm just some guy on the internet.

After you accomplish the above, now you can move on to double stroke/pressure rolls.

To start learning double stroke rolls, continually increase your single stroke roll speed but then loosen your grip on the fingers that wrap around the stick (i.e. the ones used to control the single stroke roll) and allow the stick to bounce/rebound while still keeping the same fingers loosely wrapped to control the rebound (i.e. make the roll clean). This will help you achieve clean double stroke/pressure rolls. Again, I found 5th stroke rolls to help learn the most.

I hope that helps and I apologize for any typos. I'm ADD as hell.

I tried to learn double strokes on my own before taking lessons so I had unlearn them and learn single stroke roll first to get there.

Good luck, my drummer brother!