I learned to utilize chiaroscuro in my college art classes. My professor taught me to see all the various highlights and shadows, and I was amazed by hard it actually was to pick them out.
We started by using a scale of grays that ran from black to white. We had to draw an egg on a table, and you would not believe how many different shades of gray there are in the shadows.
From there, I progressed to using acrylic paint to express all the various colored shadows and highlights. Using chiaroscuro really deepened my paintings and made my artwork look so much more realistic and professional. I will use the skills I learned in these classes for the rest of my career as an artist.