Make sure that you're good at riding a bike with two hands. You should be able to be balanced, and you shouldn't be falling off at all. If you can't ride with two hands, you won't be able to ride with one.
Get on your bike and start riding. This time, loosen the grip of one hand (whichever one you feel more comfortable doing). Don't let go, just hold it gently. Get used to this.
While you're riding, uncurl one of your hands (probably the same one as above). Try riding your bike with your flat palm guiding the handlebars.
This time, let go completely, and rest your arm or wrist on the handlebar for support. You should be riding straight, and the only thing you should be using your wrist for is to steady the bike.
Let go completely and take your whole hand, arm, everything off the handlebar. You may be a little bit wobbly at first. Keep riding around and this will wear off.
It's easier to steer in the direction of the hand that is still on the handlebar. Practice turning this way first, going gently.
If you need to turn the other way, you may want to steady the bike with your wrist again at first. However, after a bit of practice you should be able to do it single-handedly.
Practice, practice, practice, and you will be riding smoothly.
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