Start with a simple latest JAX-WS tutorial like a web-service which will return you sum of two numbers. Once you are familiar with it open the WSDL and see the various elements it has and their purpose.
After a simple example in JAX-WS you can start working on little bit complex ones like passing XMLs and marshalling/unmarshalling them, sending attachments, securing web services etc.
Are you asking about JAX-RPC or JAX-RS?
If JAX-RPC then as far as I know JAX-RPC is old. Refer to this link http://www.ibm.com/developerworks/webservices/library/ws-tip-jaxwsrpc/index.html
for more understanding.
You can use IDE like NetBeans or eclipse which has support for WebService development.
I do not have names of specific books but you can find lots of examples in internet.