Practice - that's all it takes. To help you, get another person (they don't have to be a biker
) and ask them to hold the bars and steady the bike while you take it off the paddock stand. After a while you'll get the hang of it.
Remember, you don't have to completely remove the paddock stand from the axel until the bike is safely on it's side stand - in fact it's easier if you don't.
Ade.