Be smoother (less friction), lighter (less dense, so causes less friction), or slower (so less friction).
If a spaceship can maneuver to a position just outside the atmosphere, and not orbiting nor hurtling toward the planet, the fall straight down through the atmosphere can not cause all that much friction.
The reason something like a Space Shuttle or low-orbit space station or satellite burns up, is because it’s in orbit – that is, it’s going so fast perpendicular to the planet, that it doesn’t fall. Since it’s also so close to the atmosphere, slowing down causes it to fall into the atmosphere, but at that great sideways (near-orbital) speed.