Simply put, you can practice and develop any skill in a lucid dream. As many already stated, something you already have experienced in real life can be recalled by your mind. Also, only those parts of the skill which require the use of nerves (reflexes, special movements, etc) will develop in real life. Physical things, such as muscle mass, will not.
For example: Throwing a curve ball.
You can practice this in a lucid dream once someone has taught you how to physically throw this pitch. If you practice it in a lucid dream, you'll be able to get used to the 'feeling' of throwing the ball and the writst action involved. I heard that research was done on this and that nerve endings showed signs of development even when the subject was not practicing a particular activity in real life. You won't, however, develop a stronger shoulder or arm. That requires physical activity.
I've never experienced this before, but a lot of times in my dreams I sing songs (perfect lyrics btw) that I usually wouldn't remember in real life. It's fun sometimes because the tune and lyrics are perfect.
There could be two things that may have caused this
1) You're really just recalling that you knew the lyrics and was singing perfectly - when in fact you were not. Remember how in dreams we can make things that are impossible, possible. You wanted the song to sound perfect, so to you, it did.
2) You've stored all the information of the lyrics in your subconcsious mind of which, during dreams, you now had access to and called up. Sort of like hypnosis. Calling up information which is stored in your mind, you're just not entirely aware of it.
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