For the state of MN: How to start a nonprofit http://www.hurwitassociates.com/l_s_initial_mn.html
From the MN Council for NonProfits – how to start a nonprofit http://www.mncn.org/info_start.htm
And this law firm has basic info for EVERY state – just change the last letters in the URL, before the html, to the 2 initials for the state you are interested in. For example, New York http://www.hurwitassociates.com/l_s_initial_ny.html. It tells you the exact addresses, phone numbers, and fees you need to know, plus gives lots of tips.
And here is a place that offers a lot of rote legal services like incorporizing via web-based fill-in-yourself forms: LegalZoom.com.