-Drop off after you grab the edge
-Double jump back onto it, but ride the wall this time
-When you wall ride and grab the edge, the game registers you as still wall hugging. At this point, all you have to do is hit away on the control stick and you'll doraki wall jump. This is easiest on FD, or another stage with a flat vertical wall near its edge. (FD's is a really small vertical wall but its still enough)
I'm not sure why, but this doesn't work nearly as well on any of the other neutrals. Its exceedingly easy to perform in that little pathway on Hyrule with Falcon. Grab the edges on either side of that path and you only have to hit away to perform it. Weird.