4 sheets of paper:
1 sheet called “the padding” this can be any scrap paper.
1 sheet called “the recepter” this should be good quality drawing paper.
1 sheet called “the embosser” common computer stock will do.
1 sheet called “the shield” common computer stock will do.

The padding sheet allows for a measure of softness to make sure the embossing is deep enough to respond to your work.
The recepter sheet is the sheet that will actually recieve the embossing and be your finished piece of art.
The embosser sheet is the work sheet that transfers itself to the recepter sheet.
The shield sheet is just for the purpose of laying over your art while you do it so as to keep it clean and smudge free.

Have a good hard surface, so as to be able to get good darks with your pencil work. You cannot usually get good darks working in a book format. A drawing board is fine but it must be large enough for you to lay your hand/arm on it so as to control your work.

Stack your three sheets of paper. Padding sheet on the bottom, recepter sheet in the middle and the embosser sheet on top. paper clip them maybe so as to hold them together.

On the embosser sheet BEFORE YOU STACK IT make your drawing, in as much or as little detail as you would like. Just make sure that the lines are all of them acceptable to you. Once embossed they cannot be changed.

Now place the embosser sheet over your recepter sheet and taking a ballpoint pen ( I prefere because it makes a smooth line of even width easily) but you can use a hard lead pencil. Carefully and smoothly draw over your sketch, putting some pressure on your pen, but not overkill, it doesn’t take much.
When you have finished remove your embosser sheet and your padding and set them aside. You are ready to work on what looks like a blank sheet of paper! I like a 2b pencil. Sharpen a hand full of them, very sharp with long narrow points. This should be done with the side of the lead to create light to dark values. I personally do not like cross hatching but there is extensive use of line drawing. I say sharpen a lot of them because I hate to be interrupted in my flow of creativity to stop and sharpen a pencil. keep those points sharp!

Here are initial images resulting from the above descibed procedure

this is my original drawing on the embosser sheet. You can make it simple or elaborate as needed.

Here you can see how I went over my original drawing on the embosser sheet with the ball point pen. You can make changes at this stage, there are differences in this image from the original sketch. Once this embossment is done however, you are commited to what you have drawn.