It requires hours, days, months, years to develop. A good way to work your timing is through sparring. Controlled sparring allows you isolate certain tools. If you want to work on timing your opponents jab, glove up and put on whatever safety equipment you feel necessary. Then spar with the condition that he feeds only jabs.
Mismatched weapons sparring is another excellent method.
Try stick vs knife. Back to top. Picture swinging a big stiff log at someone. Now imagine snapping someone with a loose wet towel. Try to relax when you are training.