good question! i put a lot of love into erolith, my WIP smut series about a trans girl mage coming to terms with her sexuality in the most contrived situations possible. there's also a one-shot of one of my vampire ocs wearing a bunnysuit for the vampire oc i have joint custody of and then they fuck, and additionally there's another WIP where the two of them kidnap another vampire and torture him physically and sexually until he becomes their pet. i also need to work on my cyan works (pictured in bluesky pfp and also the aforementioned kidnapped vampire). he needs to get put in situations and also put other characters in situations
you may notice that most of these are wips. that's on account of the

good question! a lot of ERP boils down to collaborative writing, so practicing writing will help with ERP. you can also get mileage out of both communication and casual hangouts with your ERP partner so you can both figure out what pace you're going for, how deep the RP part of the ERP goes, and what kinks you both want to explore or avoid. from my experiences, doing ERP from the dominant angle generally involves painting the world around the sub so they can fully lose themselves in it- a tantalizing setting with the promise of pleasure escalating into overwhelming sensation. at the same time, subs can't be total pillow princesses- you need to make sure you're playing into what your dom is setting up, giving them openings to give you exactly what you want, and of course being vocal (either about what you want or how much you're enjoying it)

step one is kill the instinct to cringe. earnest desire is the key to perversion. step two is to get autistic about a specific kink/part of sex/body part/etc and find someone else who can match your freak. the elation at meeting Someone Who Fucking Gets It will outweigh the nerves from talking about it. step three is open communication. a good friend above all will respect a "hey you're cute and we follow each other's nsfw do you wanna bang about it" or something to that line, even if they turn it down. if you're still about and want more directed advice that wasn't given at the bad bitching hour of 2:35 you know my revo and presumably my discord dms