Procreate | digital drawing
Drawing quickly and loosely is a skill developed by drawing slowly and carefully.
Drawing expressively is a skill takes a lot of practice to develop. The thing is, to get good enough to do that, you have to practice the meticulous way first. That gets the forms engrained in your head so that you can draw accurate indications of them later. The way to develop it is to practice constructing objects slowly. Like the one on the bottom right, it skipped some construction steps, however, I already burned 3D volume in my mind while sculpting it.