For awk, start with the book by Kernighan/Aho/Weinberger. The PDF of the first edition is freely available on archive.org, and a second edition has been announced. Chapter 2 of the first edition is only 40 pages, and describes all language features.
For sed, the best resource is likely the free "UNIX Bookshelf" from O'Reilly that can be found online; this contains a book specifically focusing on Sed and Awk.
I've shared this before, but this sed tutorial made me a pro. [0] Even if you don't use it for more complex things, you may find there are faster ways to do the things you are now.
Perl is probably overkill for 99% of one-liners and may not be available on as many environments as awk/sed are, but I advocate that folks do whatever is best for them in their environment and if that's Perl for you, rock it out!
awk can do much more than sed. And, with patience, you could even write a Z-machine interpreter on it as some guy did with postscript. You might have to convert the binary input to hex first with xxd/od in order to parse the opcodes in a nice way, but everything else would be simulated from awk.
https://news.ycombinator.com/item?id=13451454
For sed, the best resource is likely the free "UNIX Bookshelf" from O'Reilly that can be found online; this contains a book specifically focusing on Sed and Awk.
https://freecomputerbooks.com/The-Unix-CD-Bookshelf-Version-...