Writing good documentation is, first of all, good writing. I suggest you find books on writing, study them, and practice. But even if you are a lousy writer or have poor command of the language in which you must document, the Golden Rule is all you really need: 'Do unto others as you would have them do unto you.' Take time to really think about who will be reading your documentation, what they need to get out of it, and how you can teach that to them. If you do that, you will be an above average documentation writer, and a good programmer.