Its one thing to read about them and another to hear them but what you really want to do is experience them! The absolute best way is to fly, run, walk, hitch, row (I've actually arrived under sail) or whatever to the Mystic Sea Music Festival held in, of all places Mystic, CN at the Mystic Seaport.
Save making the acquaintance of your local Sail Training Association's odd brig or bark, there's nothing better than the program the Seaport puts on in terms of hands-on (for both performers and festival goers) mating of tasks and lines to the work songs that went with them. The festival is held on the second weekend in June 8-11.
See http://www.mysticseaport.org/public/visiting.msm/events/sea.music/festival.html
I've heard that in recent years they included more non-chanty dimensions. I can only hope that it isn't act the expense of the chantying roots.
If you can't make it to Mystic, there's always South Street Seaport in NY or sea music festivals throughout England, France, Holland and occaisonally, Poland but that's another story.
Regards, KC (Boarding Party)