Resolutions to Censure the President: Procedure and History Updated [August 1, 2019] [open pdf - 1MB]
From the Summary: "Censure is a reprimand adopted by one or both chambers of Congress against a Member of Congress, President, federal judge, or other government official. [...] While Member censure is a disciplinary measure that is sanctioned by the Constitution (Article 1, Section 5), non-Member censure is not. Rather, it is a formal expression or 'sense of' one or both houses of Congress. [...] This report summarizes the procedures that may be used to consider resolutions of censure and the history of attempts to censure the President (1st -115th Congresses). It also provides citations to additional reading material on the subject."
CRS Report for Congress, R45087
Congressional Research Service: https://crsreports.congress.gov/