I think that a lot of how to achieve this is .... hmmm... a mutual friend has an interest in tantra, and she expresses this as "being present". It's about being genuinely focussed on the happiness of your partner.
And yes, you need technique, but that's not enough - you need to focus on your partner and it's not really easy to fake that. If you don't feel that connection, it's never going to be a magical dance.
And yes, I'm aware that I'm sounding like a bleedin' hippy. Sorry.
It's like saying that just being able to talk to someone is good enough. Learning to speak just gives you the tools for conversation but it isn't what makes the conversation itself. You can small talk and chit chat with someone and walk away not even remembering the persons name, or for some inexplicable reason you can strike up this genuinely interesting and connected conversation that makes you feel like you shared something worth remembering.
I really think the techniques in the dance are just the tools, but by themselves they don't make up the dance itself. You need to connect with your partner and you really can't do that if you aren't having a genuine 'conversation' with them.