First things first, you need a tripod. You want to pick a night with as little air traffic and as few clouds as possible. It should also help if there is little air pollution.
Next, pick your spot and angle. You may want a foreground context to make your photo more interesting. Take a few practice shots using flash to have a rough idea of what your background will look like.
If you want to shoot the Milky Way look for a long cloud stretching across the Milky Way. It will be almost foggy but not blocking stars.
So once you have your shot aligned, open your aperture as wide as it goes. Set your shutter speed to 600 divided by focal length (Anything longer will create star trails.)
Optimal ISO range is about 2000 but once you have taken a few shots you can adjust accordingly. Sometimes I go lower sometimes I go higher.
Try to time your shot when there are no planes in the sky. Also take a bunch of photos. Change it up and try different things.