What I said could be misinterpreted. I mentioned the bend of the leg that is underneath.
Both knees bend. What actually happens, in a very deep right over left
crossover (down on a counter-clockwise arc), is that the left knee, that you are gliding on, bends. Then the right leg comes over top and slightly in front of the other leg. It may be straight or slightly bent. Then it touches down, to the left
ofthe other foot. As your weight transfers to the right leg, it bends, and moves a bit to the right, underneath your center of gravity, and the left leg straightens as it comes back and pushes underneath the right leg, and finally leaves the ice.
(Bear in mind, that when I say underneath your center of gravity, which is where a single foot that supports all your weight has to be for stability, I mean underneath in the sense of gravity PLUS centrifugal force - which is part of why you need an outside edge lean.)
For a left over right
crossover (done on a clockwise arc), switch left and right in the above.
When we walk and run on the ground, we are often taught, as we grow into adulthood, that falling is bad, may get you hurt, and even worse, may get you laughed at. So, any time a foot and leg are supporting much weight, we lean on the inside edge a little. That prevents falls, because if you start to fall, you can always put down the other foot to stop it. (BTW, when your heal first touches down, but is not supporting much weight, it may briefly be on a slight outside edge. That is a small detail that we can ignore for this discussion.)
So when most people first try to master crossovers in ice skating, they do the same thing: They try to support weight and lean on an inside edge, then try to cross the other foot over that inside edge. That means they have to stretch further, and it makes for a very clumsy transfer. It's psychological - it feels like you CAN'T place your weight on an outside edge, and being on an outside edge creates fear. You simply have to learn to trust that the full outside edge and lean on the ice, to do crossovers, and many other things that are expected of figure skaters.
FWIIW, many hockey players do get away with staying on their inside edges most of the time. AFAICT, those hockey players can't do crossovers, or direction changes, as well as the ones that learn outside edges too, but the strong forward lean, including weight support on the stick (which prevents a forwards fall from too far a forwards lean, at least most of the time), that are used in hockey, lets them get away with a little it better than figure skaters. Unfortunately, figure skaters aren't supposed to have such a strong forwards lean, most of the time, nor do we have a stick to lean on, so you can't use beginner hockey player style crossovers.
Try this exercise on the ground: Walk and run in straight lines. As I said, when put all or most of your weight on a foot, you probably lean a little on its inside edge, for stability. Now run fast in small circles. The foot an leg inside the circle will have to be on an outside edge, to fight the change in effective gravity from centrifugal force. Crossovers on the ice, and other outside edge moves, are likewise done on circular arcs, so you need that same lean into the circle (which is on your inside foot and leg's outside edge). Centrifugal force is the reason we can trust the outside edge to support us. Now push it a little, and walk or run crossing over, to get smaller circles. For the right over left example, you walk or run in a counter-clockwise circle, and cross the right leg over the left leg. Do it until it feels fairly natural. That is almost exactly what you will do on the ice, except that the feet will glide.
Do you remember "Trust the force, Luke" in Star Wars? Try "Trust the outside edge, Ethie" (substitute real name).
Many figure skaters don't really do crossovers. They do "progressive runs" - meaning that they place the new (right, in my right over left example) foot in front of the current (left) skating foot, rather than along side it in a full crossed over position. In fact they never really cross one foot over the other. Ice dancers tend to consider that cheating, but freestyle skaters often don't worry about it too much, until they reach higher skating levels. Maybe that style would be easier for you to learn at first too. Try it in the walking or running in circles on the ground example too - don't fully cross over, just put the outside (right) foot in front of the other foot as it touches down. Easier, no?