Hi,
Infact the best place to learn is at home. I have 2 kids, 4 & 6YO, they learn drawing by themselves, at home, they draw almost everyday, because I make everything convenient for them. Since about 3YO, I place all the drawing materials, colour pencils, crayons, markers and different sizes of recycle paper on utensil tray, and paper tray for paper, & trimmed tissue box for smaller papers. I placed all these at their play area. They naturally use it everyday. Sometimes asking for glu & cutter or color papers to do their own art craft. Oh...find some online colouring pictures & print for them, kids love it!
My kids don't really draw very well, but i can see the improvement. It's really a great pastime for them. I will play background music too. They can just self-entertained ; )