kinetic_energy,
Welcome to the Touring Forums!
Like many have said... just jump into it. Like Machka said, there's an initial investment in some specific gear, but once you have that then it's all a matter of getting out on the road.
Load the bike up and drive out of town, if you have to. Start out with what's called a "Sub 24 hour ride", or S24HO...
(from the Rivendell Bike Works website):
"... Most of us here have toured on bikes. Maybe everybody. Touring is fine, but it’s often inconvenient to the point of it just not happening. Jobs, families, school, work… it’s time-intensive. Blessed be the frequent bike tourists, good for you if you’re one of them, but you know what’s so much easier and available? The S24O: Sub-24-Hour Overnight.
It’s local bike camping, where you leave after work, ride 1 to 3 hours, find a spot to sleep, and ride home in the morning. It’s minimally invasive to your family and work life. The ride is short, and if you forget some “essential” piece of gear, what’s the big deal? You’ll live through the night without it."
Camp where you feel comfortable... as you gain more experience you'll start to figure out what works best for you, because "there isn't a best way; there are many different ways" to bike tour.
If you have a question, just ask. We don't bite, and LOVE to tour!