If what you're looking for is to be able to hold an intuitive understanding of 3D objects, I think experience is the best teacher. Look closely at the world around you, take time to understand the objects in your midst. Turn them over in your hands, or watch them move. Learn about the parts and features that contribute to their forms.
Like, you know how if you have a familiar handbag or backpack, you can just reach into it, feel around, and pull out what you want without even looking? That's the kind of memorization you have to employ; to be able to understand the form of an object and see it in your mind's eye, even though you're not actually seeing it in real life. I think that's essential for basic 3D shapes like cylinders, cubes/prisms, and spheroids.
For more complex 3D forms, though, I think you can afford to cheat a little...you can always break them down into groups of simple 3D shapes, like people always suggest, but you may be better off just learning how they are drawn, depending on how your mind works.
Like, when it comes to hands...I spent a long time during my younger years trying to understand the form of a hand, and developing logical rules for foreshortening and posing and whatnot.
But now that I look back on all that, I really think I was just wasting my time. It's good to have stuff like that in mind, but you should be aware that, the more your art style diverges from photorealism, the less realistic 3D manipulation actually matters.
Drawing a cartoon is not the same as simply rendering a 3D model of that cartoon into 2D. That's why it's very easy to tell whether someone's manga was hand drawn or simply traced over models from MMD, for instance: the techniques that 2D artists usually use disappear completely, in favor of "accuracy" that often diminishes the effect of the finished product.
The effect I'm talking about may not be totally clear yet...but as always, experience is the best teacher. If you know any animated series or video games that have both 2D and 3D incarnations, I advise you to look at them and compare them. Ask yourself how the characters are designed in 3D vs 2D, which features are accentuated and which are simply left alone (for example, highlights in the eyes are usually drawn explicitly in 2D, whereas in more detailed 3D they're taken care of by ambient lighting).
Most importantly, ask yourself which you like better, and what you can learn from both. I think this is a good beginning exercise for understanding how to recreate 3D objects in 2D media.