It's easy to pick up. I learned in about two hours of practice. Since then I have stalled the car like twice, and I've been driving for years now. I still can't do heel toes though, my feet aren't flexible enough to pull that off.
For those who worry, it's easier to drive a diesel engine because like somebody mentioned the key to not stalling is torque. Diesel engines have much greater initial torque than petrol engines, so you don't need to rev it as high when you set off, and it holds lower rpm ranges much more steadily than a petrol engine too.
In a petrol engine the key to learning is finding the bite point. A little tip I have for that is to start the car in neutral with the hand brake engaged. Then push the clutch in, shift into first. And with the clutch still pushed all the way in very gently tap on the accelerator at the same time. Slowly, gently raise the rpm, like you're simmering something on the stove. Increase it by small and gradual increments. At the same time you're doing this with your accelerator, do the opposite with the clutch - very slowly and gently raise your clutch foot.
Eventually you will feel the car straining against the hand brake, you'll feel it want to move. That's when you disengage the hand brake, hold your foot steady on that exact rpm reading, and come off the clutch all the way very slowly and gently. That's what you need to drive manual - smooth and patient footwork. It really isn't that difficult. Most people are just too impatient and too fast with their feet, you have to be slow and smooth when you work with the clutch.
Now that you know where your bite point is on the rev counter, you know how much power it takes to get your car moving. You need to hit that same rpm each time you start from a dead stop. The more you start off the easier it gets.
Note that on an uphill slope you will need more power than normal to start off, and on a downhill slope less power than normal.