The quickest and simplest way is to begin by quickly dragging the brush across the surface. The surface of the panel does not need to be rough (but it can help); texture can be achieved by repeating the process.
Perceived texture or visual patterns are generally described as a surface that is painted smooth yet only a visually detailed surface or pattern exists rather than physical texture. Marbleizing is a good example of this, yet no one visual pleasing technique can be created the same way. Therefore offering a technical description on how to achieve the countless ways to do this would prove exhausting if not impossibly lengthy. Try painting many layers and melting it down smooth. Try carving and scratching into layers. Try flicking, dripping, or slinging the wax on- then melt it smooth. When it comes to encaustic, experimentation is key, and one of the most rewarding. Also read Paint/Pigment Sticks.
Read Burnishers for a faceted technique.
Another technique is by carving back into the wax creating an edge for the paint to grasp onto. This is the same method used in the dry point process of printmaking; ink grasps the bur that is raised in the surface created by the tool. This method also helps you control where you want texture. Do not forget to fuse the paint between each application. Fusing may cause some loss of surface texture; however. the loss is not equal to the gain. And repeat the process for more texture.