Watch the Study 5: Lady Bird online guitar lesson by Carl Verheyen from S.W.A.T Improvisation
Since the modes are contained within the major scales we can use those major scales as an exercise to simply hear the scales going by over the changes and observe how they relate. But to make music out of it we need melodic lines. And to make them truly outline the changes we need to know the guide tones of each chord. This is explained here.