Gather reference materials for the character you wish to draw. Note how he appears in films, drawings, animated appearances, and toy form. The more media where you can view the character, the greater the detail in your drawing.
Select a pose for your character. You can display any emotions with how your character is positioned. Think of the difference between Chancellor Palpatine standing regally in the Senate versus his attack on Luke Skywalker during the Return of the Jedi.
Create your outline of the pose using a pencil. Start with a stick figure drawing to form the skeleton of your character. Afterward, add in shapes to fill out the torso, arms, and legs of your figure. Don't forget to add in shapes for hands such as a square for open palms or a circle for a fist, perhaps grasping a lightsaber.
Draw a line down the center of your character's head. Use this as the guideline to add facial features. If you're drawing a Storm Trooper, then draw the helmet onto his head using your reference as a guide.
Research the clothing worn by your character, as this will be important in determining his look when drawing. You can turn your character into a Jedi like Luke Skywalker with robes, or a queen such as Amidala with the use of headdresses and flowing garments.
Draw the full form of your character using your references as well as anatomy books. Because you are drawing a human character from the Star Wars universe, you will follow standard rules of proportions.
Overlay your outline with the clothing choices. If you are having trouble translating what you see on screen or in photographs to a drawing, look at Star Wars comic books, which include a range of styles and fits from the movies to the expanded universe.
Color in your character with colored pencils to add extra dimension to her look. Remember that your color choices will impact whether your character is perceived as part of the light side or dark side of the force. Jedi should have clothing colored in a mix of white, tan and black while other characters such as bounty hunters can feature a wider variety.