ya, MSF is the best way to learn to ride imo, I was never even on a scooter or moped before taking the class, and they teach u from step one. But yeah, its like snowboarding, you can learn the concept from reading, but you can only really learn the art by doing it yourself. Anyways, isn't it called countersteering? basically where you turn the front tire/handle bars in the opposite direction you want to go. i.e. make a left turn, push down/forward on the left handlebar making the wheel turn to the right, therefore leaning the bike to the left.

"Experience is the hardest teacher because she gives the test first and the lesson afterwards."

but remember

"No Risk, No Reward"