My adventure with Skaffold I have started from quickstart, which describes steps connected with installation at the beginning and then all fun begins :) :

git clone --depth 1 https://github.com/GoogleContainerTools/skaffol
mv skaffold quickstart
cd quickstart/examples/getting-started

skaffold dev

In my case homebrew had older version of Skaffold, I cannot it upgrade it so I changed skaffold.yml:

apiVersion: skaffold/v2beta18
kind: Config
build:
  artifacts:
  - image: skaffold-example
deploy:
  kubectl:
    manifests:
      - k8s-*

To build and deploy once at a time, we run command:

skaffold run

We can check pod running simple application:

kubectl get pods
NAME              READY   STATUS    RESTARTS   AGE
getting-started   1/1     Running   0          2m3s

To clean application, we can simply use:

skaffold delete