The first step is to learn the Philidor position (see below), which is a win with either side to move.
Following learning that, there is a series of videos by Derek Grimmell which is probably the best resource to learn Q v R endings.
The third rank defense is considered the best option for the defender, as the ideas to hold this are surprisingly simple for the defender. There is a key move to break this defense down which is not easy to find for the attacker.
In practice defenders will often play sub optimally and make life easier for the side with the queen.
Go on YT...