I was going to say anyone could do it, but that is not true. There are many people who could not do it. You need to be a confident person, and feel comfortable driving smaller vehicles. You need to know that you will not be intimidated by the size of a larger vehicle once you have learnt to drive it.
You also have to be able to forgive other road users for their accidental or deliberate poor driving. If you are the sort of person who gets annoyed easily, and feels like taking revenge then you should not follow this course.
Don't assume that a failure on a PCV or HGV test is a sign of a bad driver, or that a 'good' driver will pass first time though. The standard required is high so nerves can be a major problem. It is very easy to fail.
There is no legal 'experience' requirement except having a car licence, but obviously the more experience you have of roadcraft the easier you will find it.
It can be very satisfying.