...and that phrase shows at least 1 year drawing classes n practice ...

on a differen note... try to ask and find the high school technical drawing books, they will contain everything you need to know (to start ) on perspective/conics/composition relationships/ space transformations and all kind of curious sidebars like "moebius bands, spheres and infinite", well at least mines did...
Also take a look at M.C.Escher drawings he is a case of "when you´ve learnt the rules, break em"

An interesting technique is: using compass, "bevel?" and "square?" rulers to make a three vanishing points drawing (from a top+optional ortographic view sketches) on a big piece of paper (Din A3 photocopy preferred). You frist put in perspective cubic placeholders(taken from the top+optional ortographic view) and then by hand and with the help of a curve ruler, the ellipses ruler and a normal ruler make the shapes... Then enhance and add value by inking with (0.2/0.8) rotrings and ballpoint v5pilots. Add hard shadows with black Eddings, and shade with 25%/50%/75% grey markers+white pencil or white gouache. (and then scan, color tint and furter tweak in photoshop)

When you have done enough 3vanishing points drawings with rulers and following the techniques you can go trying to make it by hand(and merging steps as you feel like but for starting i´d reccomend doing it by steps, following the rules and as many times as you have time).

Or you can just take "artistic" drawing the "insert word here" classes...

Or, of course, you can just Simply use Maya...

And now i come to think about Escher, and on a plane totally different from drawing...anybody has read the book "Godel,Bach,Escher"? (and can honestly recommend it (Math PhD´s discarded)) Im not sure if it would be worth buying and wading trough it...