It depends on which fruit you are talking about. Some, it's best not to try. Apples, for example. They have to cross-pollinate with a different variety to produce fruit and seeds. That means they do not breed true. What you usually get if you grow a tree from an apple seed is a small, twisted, warped apple good for nothing that tastes awful and is probably not very prolific. Apples are propogated by grafting.
You can grow some fruits from seed and do OK. Depending in which ones they are you might need to scarify or stratify them. Scarify is to scratch or weaken the seeds outer coating. Stratify is to keep them in cold conditions a certain amount of time, sometimes a few days in the freezer may work, sometimes several weeks in the refrigerator or freezer may be required. It depends on which seed you are trying to sprout.
If you have any specific fruit in mind somebody might be able to help, but there is no one technique that works for all fruits.
and strangely enough in my reading, if you had an orchard full of peach trees eventually you might get a seedling that emerges that would become an apricot tree!
grapes are the same way as apples. you need to take cuttings of the vines and root or graft them to get the original type of plant. or else you would have some sort of cross if you tried to plant their seeds. though you might have a nice tasty grape from that seedling!
In Oklahoma I had several Indian peach trees. They were descendants of peach seeds carried across the Trail of Tears by Choctaws in the Indian removal. They were blood red inside and kind of puckery when eaten raw but they made the greatest canned peaches and peach jam you ever ate.