The visiting Pioneers improved to 6-4 overall, while the Crusaders fell to 5-3.
Skemp scored 11 points in each half while exceeding 20 points for the first time. He also blocked five shots. Mike Jamerson added 13 points, including two free throws with 15 seconds left for the game's final points.
The Pioneers, playing their first game in 19 days, scored their final six points at the free-throw line.
UMHB led 28-27 after a first half that featured three ties and two lead changes. The Crusaders held the lead for the first 10 minutes of the second half and went back on top at 46-44 with 7:31 left to play. The Pioneers then went on a 7-0 run to take a 51-46 lead with 4:02 remaining. UMHB pulled to within 51-50 with 2:39 left before Mark Gossens hit a pair of free throws for UWP to make it a 53-50 game. Justin Schwartz hit a basket with 57 seconds left to cut the lead to 53-52 and had a chance to take the lead before turning the ball over with 21 seconds left. After Jamerson hit a pair of free throws for UWP to push the lead to 55-52 with 15 seconds remaining, the Crusaders could not get a shot off on their final possession of the game.
The Pioneers conclude their Texas trip New Year's Eve, playing at Concordia-Austin at 3 p.m.