As said it just takes practice. The first manual vehicle I ever drove was an 03 Screaming Yellow Mach 1 when I was 15...didn't stall it once, fricken epic day that was.
Then I drove a 3.0 Ranger and stalled the f*cker every other day
When I'm on a hill on my bike I basically do what Colton said. Use that brake until you release the clutch just past it's friction point and then slowly release the brake. The natural momentum from the clutch alongside some steady but light acceleration will get you going with very little if any rollback.
12 Black GT500 SVT PP l VMP TVS l JLT123 l O/R X l 28x11.50Rx15 M/T Street R's l BMR Suspension l Recaros
03 Sonic Blue 3.8 / 17 Magnetic Fusion Sport 2.7 EB