1). If your dicarboxylic acid can form a cyclic anhydride (as in the given example: succinic anhydride), you simply react 1 mole of the diol with 2 moles the cyclic anhydride without catalysis and preferably, without solvent.
2). Otherwise, you prepare the monomethyl ester of your dicarboxylic acid, followed by transesterification with the diol at 2+/1 molar ratio, under basic catalysis.
You search in the literature for the appropriate monoesterification method because this depends on the structure of the dicarboxylic acid, whether aromatic, conjugated or not.
Indicatively, a method for monoesterification of aliphatic dicarboxylic acids is described in the Vogel’s textbook of practical organic chemistry but the obtained yield is rather moderate.