Just takes a bit of practice. When you roll away from a stop regularly, think about the point of your throttle roll on where you are feeling the most torque, and the point where the clutch engages. For the proactice, from a stop get the RPMs to that sweet spot, and let the clutch out faster than normal. The bike will take off much quicker than you're used to so be prepared for that, and have enough gas in the tank so that you don't stall out. You should definitely notice the front end suspension lift as the weight transfers back. Do this a few times with more throttle and quicker clutch drops and you'll get the wheel off the ground in no time.
I hope I don't need to say that you don't practice this on a road with homes, children, or cars. Find a completely (COMPLETELY) empty, flat, and relatively clean piece of blacktop.