First, I make a draft on paper with pencil. I scan the drawing and import it to Inkscape.
Then, I just ink it with the calligraphy tool. I use a tablet (an old Wacom), I work on 2:1 zoom and use a brush stroke whose width is from 2 to 5 with no pressure.
Btw, if you want to train, you can find my inktober works here : https://github.com/PoufPoufProduction/artwork