Information on raw transactions: https://en.bitcoin.it/wiki/Raw_Transactions
Here's an example of a 2-of-2 signature setup on testnet: https://people.xiph.org/~greg/escrowexample.txt
Some notes from Gavin: https://gist.github.com/3161162
An example of a 2-of-3 transaction: https://gist.github.com/3966071
So there's some stuff scattered about, but I don't think an easy "here's how to do multisig tutorial" that I've seen. I've played around with it quite a bit on testnet, so I think I have a pretty good handle on it. Maybe if I get a chance I'll write something up. But I probably won't get a chance for quite a while.