This doesn’t always get the attention it deserves during training. The National Business Aircraft Association (NBAA) have done a superb job preparing an in-depth Pilot Briefing about it. Available as a PDF or as a Powerpoint document.
Go to NBAA.org Aircraft Operations – CNS – PBN and download from the Related Links sidebar on the right.
There are lots of detailed examples given for SIDs and STARs in the US. The Briefing also mentions the slight differences that apply in Canada. Invaluable for crews who aren’t in North America on a regular basis.
For the East side of the Pond, the UK CAA provides info on the topic, at SID-and-STAR-phraseology
See also Eurocontrol’s Phraseology Database, https://contentzone.eurocontrol.int/phraseology/
Shame there aren’t worked examples as in the NBAA Pilot Brief! An ounce of example is sometimes worth a pound of theory. Kudos, NBAA!