Start here. This is the direct spoken answer to practice first.
Why this question matters
Policy-based authorization keeps security rules out of scattered if-statements. It also makes permission checks easier to test and review.
I would define policies for important capabilities or security requirements, then apply them to endpoints with authorization attributes or endpoint metadata. The policy can require an authenticated user, specific claims, roles, or capabilities. For resource-specific checks, a handler can evaluate both the user and the target resource.