I found this book to be a great help, even in drawing circles, cylinders and curves. It explains shading and light sources, multiple vanishing points, intersecting just about anything and even gives you an idea of how to draw unique shapes in a 3D perspective. All the examples are step-by-step progressions of each concept and really show you how to do it.

You don't have to know sines and cosines, and you don't need a compass or protractor (although they might help). All you need is a pencil, ruler and eraser.

About 85% of the book is dedicated to shapes and structures, but there are also examples of furniture, cars and even people.

An excellent starting point for drawing in perspective.