Resolutions to Censure the President: Procedure and History [Updated November 20, 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. [...] Resolutions attempting to censure the President are usually simple resolutions. These resolutions are not privileged for consideration in the House or Senate. They are, instead, considered under the regular parliamentary mechanisms used to process 'sense of' legislation. [...] 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/