Good writing skills are essential for survival in professional life, no matter you are in academia or not. Therefore it is essential for anyone to develop this skill.

Writing is hard work. You need discipline, and regular exercise, much like a professional athlete. Again, like a professional athlete, you need to start early. If you are an undergrad, take courses that will develop your writing skills, and take lab reports seriously.

Practise. Write papers yourself. If you are the first author you really should write the first draft, including the introduction yourself. Even if your draft gets heavily edited or even discarded completely, you will learn a lot. This will help you improve.

Find examples. Find and follow scientific authors known for the clarity and beauty of their writing.
Read literary non-scientific periodicals, my personal favorite is The New Yorker. Read a lot of novels. Read slowly and thoughtfully. Understand what makes you like that text.