Which router and which firewall are you using? Cisco has some good documentation. A great way to get hands-on experience is to take a class through your local college’s continuing education program or via a specialized training vendor. Depending on your model #s and specific needs here’s another good resource.
I teach basic access-list configuration right out of the ICND2 (Interconnecting Cisco Network Devices 2) book from Cisco Press. It is a good basic resource. Combined with the a search on “access-list” on the Cisco website it should help.
brent mossberger, CCSI