You can start from here at https://www.udemy.com/course/official-udemy-create-course - This is a free official Udemy course that gives everything that you need to know to create a course from the ground up.
Also, check out all the resources required to create amazing Udemy courses: A list of useful sources for instructors
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You can join the Instructor Club after you publish your first course. In the meantime, you’ll find plenty of help and advice in Studio U.