This can be attained during the Prologue "Training Dojo" after mastering the "Art of the Stinging Bee".
The Wall of Ninjanuity unlocks automatically and you will be granted your first Ninjanuity Token. This one will be for the ability "Skyward Dragon" after which you will be given the opportunity to perform the move twice against a training dummy (Press B followed by X repeatably).
You can repeat it here until you unlock "Master of the Skyward Dragon" or wait and you will get it cumulatively by the end of your playthrough.