I do sharpen twist drills regularly by hand on an open wheel. I hold the drill at an upward angle same as the end grind (theoretically 59 degrees but I do this by eye) and start with the lip horizontal. I then roll the drill downward away from the lip in a sprial motion. After sharpening one one side I repeat for the other until the lips are same length (again by eye).
Your wheel must have a reasonably flat face, if it has deep grooves and rounded edges you will have a tough time.
It is an aquired knack but after practicing on 50 or 100 old drills it becomes natural. It would be a good idea to get some cheap old drills from a yard or car sale to practice on. My grandfather (master car and truck mechanic, self taught) used to give me a box of a few hundred dull ones to do, or some cold chisels, if I was asking him too many questions that day. If he used one afterward that wasn’t ground well, he would wake me up by throwing it over my shoulder onto the sheetmetal bench beside me. I learned fast. I don’t recall but I am sure it was him that taught me to do it in the first place, but it may have been my Dad or I may have just had a go one day. (It certainly wasn’t an old toolmaker that taught me)
For small drills some sort of magnifier device is essential.
I wouldn’t do it on a drill for a super high precision job, I would buy a fresh drill for that, but for everyday drilling for model work and home shop they are fine. Cheers Jeff