Lots of good suggestions in this thread already. Learning to do it on your own is obviously preferable, but i just want to mention galantamine as a quick and dirty way to do it as well. You will have to do your own due diligence wrt side effects, especially if you are going to take it regularly.
Galantamine was the push that helped me break through to lucidity years ago, and yes it is quite effective, but as you imply it is not something to use often. Interactions need to be considered (especially for people using beta-blockers or other neuromuscular blocking drugs, and as usual, some psychiatric medications). It's an acetylcholinesterase inhibitor, which increases the amount of available acetylcholine, and cholinergic activity has direct correlation with REM sleep, dream vividness and awareness, and dream recall.
It can work especially in wake-back-to-bed techniques. I was rather the hard head, and combination of some reality check training, taking principally tryptophan (5-HTP) an hour before sleep, and waking up around four hours into the cycle to stretch, taking galantamine and doing some meditation back to sleep worked like a charm.
And imo the good thing about such methods is that, while one should absolutely aim to train lucidity skills without using plants or supplements, once you manage to produce a first clear experience it becomes much easier to reproduce it with other techniques. Like breaking a dam.
I've been wanting to try galantamine but didn't want to spend that much and it not work. I've experimented with mugwort, Mexican dream herb, as well as blue lotus but no luck with those. Oddly enough blue lotus keeps me awake, sucks because I actually enjoy it infused in wine.
If you read up a bit about the sleep cycle and its neurophysiology, and time things well, galantamine (or similar compounds, like huperzine A) will most likely work. Mugwort can also work well, but herbs are very complex, variable in composition, and more impredictable. Taking an infusion instead of a tincture or taking it too early, or using herb that is too old, or has been harvested before time, can completely change the result.
Blue lotus can work for some people (mostly women as far as I've seen; cannot explain why yet) but in my opinion it's mentioned too often as a dream aid considering its efficiency. I would not rely much on it as a dream aid. Also, there may be some confusion currently with what is often sold as blue lotus and its identification with the plant used in ancient Egypt, which may not be the same.
Calea works but the tea tastes nasty (very) so people smoke extracts, and that can be hit and miss.
If you like trying herbs for dreaming, consider also
Artemisia annua aside of
A. vulgaris (mugwort). Artemisinin is an efficient AChE inhibitor, and these work well, like many people who used medication for malaria can attest to.
Kava-kava is also interesting. It works differently, on GABA receptors, but there's often reports of vivid dreams. And if it doesn't work, it's a very enjoyable herb anyway.