Basically get to the station just off your starter planet. There you can trian in the crafting/gathering skills by simply talking to the various trainers and selecting "yes" (or some variant of "yes")
You get a maximum of 1 true crafting profession/skill (biochem, cybertech, armortech, armstech, artifice, synthweaving) and you pick up to 3 of the mission skills (investigation, diplomacy, underworld trading, treasure hunting) and gathering skills. You are however, limited to 3 skills total that are shared among your entire crew.
Each crafting class has a gathering skill and one or more mission skills that go well with it. You will get a codex entry after talking to each trainer giving more details on what is the natural pairing for each crafting class.