Learning how to draw is, according to Drawing with the Right Side of the Brain, something that everyone can do, with practice. Not everyone has access to figure drawing events or wild animals that they can just sketch whenever they want though. Check out Line of Action, the website that offers figure drawing sessions.
This isn’t a true figure drawing session as the models are photos, not live. There is a certain skill that can be gained from live drawing but not everyone can access that. This site has many groups of rotating photos for people to practice their skills with. There are sections for practicing humans, both clothed and nude, expressions, hands and feet, as well as animals.
Where this site rally shines is the ability to set up a sort of class where you select a time and go through gesture drawing to a full figure. The models are varied and you could end up with just about anything. The site is free and worth a look for artists.