> How would you write a document that describes to someone how to ride a bike or dig holes efficiently?

You don't. You put these people together for some years to work on stuff together, and a small percentage of this "intangible" feelings, knowledge and experiences you cannot write down somehow magically passes over to the other person.

Of course, the apprentice will still require their own repeated failures and uphill battle even getting close, but having someone who mastered the craft near you as you go through this, makes the whole process a hell of a lot faster.