The best way to learn is to go out and do it yourself. Once you get the basics down, then start learning the different techniques. You want to be comfortable on the boat so you can free up your mind to concentrate on the finer points of sailing. And after a while you will be amazed at how naturally you are able to sail well and get the boat to do what you want.

Also, if you are a technical person it helps to learn about fluid flow over a foil (wing). This will help you understand why you trim the sails in such and such a way for certain conditions.