Where should I begin?

Hi,

I'm looking to design my first PCB. Currently I've just been using an Arduino to control my 5 servos. My endgame is for a PCB that can control the 5 servos, charge and discharge an LiPo battery and connect with some simple sensors like buttons and hall effect sensors.

Looking online from what I hear people just say to steal an existing PCB design that works and is similar to what you want and remove all the things you don't need. I plan on using an STM32 MCU but I really have no idea where to even start. What software to use and where to find PCB designs to build off.