The biggest thing is practice and gaining the "feel" of it.
My gear consists of a 7' MH Ex-Fast rod and a quality baitcaster (i prefer a Shimano Curado 200E7 for skipping and pitching). I go with 40-50 lb Power Pro braid as the PP seems to be a bit rougher/more abrasive than other braids, as well as mono and fluoro. I feel as if I can control the spool a bit better with that extra grab from my thumb on the line/spool. I can also pick backlashes better with braid.
I start with about 12"of line out and the cast is more of a wrist roll than a cast. I make the lure do a near 360 degree revolution to load the tip. The rod tip loads up to fling the bait, but you dont need to or want to load the entire rod like a normal cast. When you release the lure to make the cast, you want the rod tip to be close to the water and the lure should have a trajectory as low and as paralleled to the water as possible.
Tips on the cast:
You dont need to cast it as hard as you think
Loose brakes are better than heavy brakes
Use your thumb throughout the entire cast (this is where the "feel" comes in)
Focus on making the lure do a bunch of short, sliding skips as opposed to 3 or 4 long jumpy skips
I raise my rod tip up at the end to provide lift, and also to get a bit more line off the reel so I can follow the bait down
Focus about a foot in front of where you want your lure to slide into, or the first skip
The lure should normally be skipping before or right as it gets under the dock
Dont try to skip when there is wind and waves, its not gonna happen
Lurewise, I prefer to skip a 3/8 oz jig more than anything else. I use an alien/ brush style head, while others prefer an arky head. Go with a trailer that isnt real bulky and wont catch a bunch of water. I use a simple craw trailer most of the time.
And of course, PRACTICE! The way I learned is that I used skip casts any time I was making a normal cast. Lets say I was out in 15 FOW making short pitches to a weed edge or grass clumps. Instead of making a pitch, I would do a skip cast. Got the same distance, the lure got to the same place, but I was practicing my skipping on every cast. And its easier in open water with no pressure to make that perfect cast.