Yeah, like you, I don't like being dependent on a special tool to put an edge on something. And, like you, I still am not very good at hand sharpening. But I'm (slowly) getting better.
First, I'm assuming you've read the tutorials on sharpening a knife. If you haven't we can all recommend some. You need to understand what you're trying to do (get wire edge, flip, wire edge, etc.)
Second, and it took me a while to figure this out, no one style works for everyone. I never could get a consistent blade angle doing it the traditional "whittling" style (stroke blade away from you). I've evolved a style that probably looks stupid. Actually, it looks like I'm trying to poke my eye out. :-) I hold the stone in one hand, edge on (looking directly at side of stone). The other hand holds the blade against the stone, handle away from me, blade pointed RIGHT AT MY EYE. Why? Because this way, I can see the stone-blade angle. I move the blade back and forth over the stone, never lifting it up. This also helps maintain a constant blade-stone angle. I do this "enough" to raise a wire edge along the entire length of the blade, then switch everything to the other hand and do it on the other side. I'm getting consistent results this way, finally.
I'm not saying you should do this, but do feel free to experiment with different grips. It's all about the angle the blade makes with the stone. Anything that makes the angle repeatable from stroke to stroke will work. That's all the various sharpening machines really do.
Lastly, get a bunch of knives. I ate up the blade of my 710 practicing.
Hand sharpening is not easy for me. I'm sure others have gotten better, faster. But its satisying when you FINALLY get a shaving sharp edge by hand. Really. :-)