I've watched some on YouTube but can't remember the channel, I searched "jeep off road basics" "offloading for beginners" or something along those lines and found some pretty good/ informative videos
I would recommend looking into Offroad Consulting or a similar company. They offer a course called Offroad 101, my cousin took it and said the guide and instructor were awesome and they actually teach you how to use YOUR jeep while off-roading.
I've seen local jeep clubs put on How to events. Maybe that could be an option? No better learning than getting out there and getting your jeep dirty with proper supervision.