The most common undergarments in lolita are petticoats and bloomers, both are relatively easy to make!
I decided to couple both undergarments and pants together because a lot of bloomer patterns also work for ouji pumpkin shorts :D
A note on sewing petticoats: Take notice if it's an A-line petti or a bell-shape/cupcake petti, they will give you different sillouettes when you wear them, here's a guide by MeLikesTea showing the difference between them!
Petticoats:
Bloomers:
Shorts:
Long pants: