Yuri Averbakh's "Chess Endings: Essential Knowledge" has a good explanation of this endgame. The winning plan is to maneuver the K and R into a corner, using the fact that the K and R have to stay together in order to avoid forking checks by the Q. The basic position you are aiming for was analyzed by Philidor in 1777(!)
Averbakh also shows an example of how to force the K and R into a Philidor position. One caution: it is easy to fall into a stalemate trap if you're not careful in your calculations.
I have practiced some beginner endgames like Q+K vs K, R+K vs K, K and pawn endgames, Q or R vs solo minor piece, and feel pretty good about those, but Q vs R endgames are really tough for me, much harder than the others. I know for example that you want to keep the rook far from the king so you can fork with the queen or maybe if the king is by a side you maybe able to checkmate without capturing the rook, but I feel like have I hard time forcing them to separate or stay separated. Any advice, articles, or videos to help with this?