Delson Armstrong looks at the Buddhist Cosmology and does a thumbnail sketch of each of the 31 realms including all the lower realms and upper Brahmalokas. A good reference book is Buddhist Cosmos by Ven. Punnadhammo TWIM -Tranquil Wisdom Insight Meditation is based on the earliest Buddhist Suttas from the Majjhima Nikāya from the Pali Canon.

Information on TWIM https://www.dhammasukha.org/ https://www.suttavada.foundation/

Buddha taught: https://www.thepathtonibbana.com/