You don't necessarily need to know how to draw well. It depends on what kind of prints you want to make. Most people sketch out a preliminary drawing and transfer it onto their printing matrix in some way. You can use graphite transfer paper to trace an image onto a block for relief printing.
I think the easiest way to start would be with relief printing. You can get a basic starter kit like this one. It's got everything you need to get started, plus some extras.
Beginner techniques for relief printing:

Sketch your image. Draw/transfer it onto your block.
Carve your block with the gauge. Remember, whatever you carve away will not get ink on it. The surface you leave alone will be what transfers the ink. Also remember your image will be reversed on the paper. If you're carving text, it needs to be backwards on the block so it prints correctly on the paper.
Get your ink ready for rolling. Squeeze some ink out of your tube. Use something like a putty knife to spread the ink into a horizontal stripe. Use your brayer to roll a section of that stripe down so you also have a vertical stripe. Roll the ink up and down this stripe several times until you have a nice, even layer. This is hard to explain but you should have a "T" of ink, essentially. Two perpendicular stripes of ink.
Inking time! Roll your brayer over your block and watch that image appear! Roll from top to bottom and use even pressure across the entire block. You may need to pick up more ink by rolling your brayer over your vertical stripe from step 3 again.
Make your print. Press your paper down on top of your block. Apply pressure without moving the paper. You can use your hands, a wooden spoon, a bone folder, a baren, or a printing press. It comes down to personal preference and how much you want to invest. I have this little press, but I've found that I prefer hand pressure for small prints. I'll use my press if I've been working for hours and my fingers are about to fall off.
Repeat steps 4 and 5. You will probably make several test prints before you make one really good one. And then the challenge is making several prints that all look similar enough to be in the same edition.

That's about as basic as printmaking gets. And yes, there are techniques that are way more difficult. Etching is a whole different beast from relief printing. Aquatint etchings drove me insane at school, but the results when done right are breathtakingly beautiful. And I don't even know entirely how lithographs are made.

I know this is a lot to absorb from a reddit comment, so if there are any classes offered near you, I highly recommend taking some!

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