A couple of years ago I decided I would learn to applique. I visited my quilt store and they recommended The New Applique Sampler: Learn to Applique the Piece O' Cake Way . I will recommend it to you too. It goes step-by-step, has good illustrations, and each lesson builds on the previous. It is also by Goldsmith and Jenkins.
Try their method and then try the freezer paper method and raw edge applique. Eventually you'll find what you like best. I'm still looking but I'm improving with each new project (at least I think I am!).