Can't offer much in the way of what to actually do with your fingers 'cause I'm one of those self-taught guys who can't do it if he thinks about it. The fingers know what to do, the brain has no idea.

But, I can maybe offer some insights into some "hardware issues".

Most fingerpickers prefer a guitar other than the dreadnaught size usually preferred by flatpickers. That's by no means a "rule", just a generalization. (I've certainly never seen Doc Watson change guitars when he does some fingerpicking.) But, smaller guitars are generally better voiced for fingerpicking. They also generally don't sound as good as a D when flatpicked so you pretty much have to learn to fingerpick to justify having shelled out two grand for that Santa Cruz OM.

Many fingerpickers prefer at least a 1 3/4" wide neck as opposed to the 1 11/16" width usually found on dreadnaughts. That extra 1/16" may not sound like much, but it can really make a difference in cleanliness of sound, particularly regarding left-hand fingernail buzz. Or, as an alternative, you can just capo up a couple of frets to where the neck is a little wider.

If you're using thumb and/or finger picks, try out several brands and styles and find what's most comfortable and controllable for you. Don't worry about volume too much to start with. Fred Kelly Speedpicks are probably the easiest thumb picks to use, though they may lack the punch you'll eventually want. You can change to something heavier after your thumb knows what it's doing.

As suggested by eleanor c above, play 5-string banjo! The same basic techniques apply and you pretty much have to learn to fingerpick to play banjo. And, once you learn a tune on banjo you can play it on guitar in the corresponding open-tuning (and vice-versa). It's like getting two tunes for the price of one!