You can get these lessons in the regular Navy, I'm assuming, since you can get these lessons in the regular Army. You get a free pair of boots, too.
As it happens, another great place to learn these skills is by volunteering with youth military cadet forces (in the UK, the Army, Air or Sea cadets.) I'm not sure how prevalent these are in the US? (I guess this is an example: https://en.wikipedia.org/wiki/American_Cadet_Alliance)