Somebody taught Eddie Van Halen how to play guitar, and Michael Jordan how to play basketball. If you really have the desire to be a great lover, and you're patient and more importantly have a patient teacher, you can learn to make the earth move.
That said, Mozart practically came out of the womb composing symphonies. But I think sexual prodigies still need to be told they're great in the sack to truly develop the confidence it takes to make someone a great lover.