Singing voice synthesis has been paid rising attention with the rapid development of speech synthesis area. In general, a studio-level singing corpus is usually necessary to produce a natural singing voice from lyrics and music-related transcription. However, such a corpus is difficult to collect since it's hard for many of us to sing like a professional singer. In this paper, we propose an approach -- Learn2Sing that only needs a singing teacher to generate the target speakers' singing voice without their singing voice data. In our approach, a teacher's singing corpus and speech from multiple target speakers are trained in a frame-level auto-regressive acoustic model where singing and speaking share the common speaker embedding and style tag embedding. Meanwhile, since there is no music-related transcription for the target speaker, we use log-scale fundamental frequency (LF0) as an auxiliary feature as the inputs of the acoustic model for building a unified input representation. In order to enable the target speaker to sing without singing reference audio in the inference stage, a duration model and an LF0 prediction model are also trained. Particularly, we employ domain adversarial training (DAT) in the acoustic model, which aims to enhance the singing performance of target speakers by disentangling style from acoustic features of singing and speaking data. Our experiments indicate that the proposed approach is capable of synthesizing singing voice for target speaker given only their speech samples.