The canonical text is Arfken's Mathematical Methods for Physicists, Chapter 3 introduces tensors. The book is pretty formidible, but I imagine you can wade through it. There's a more manageable treatment of tensors and their use in Ohanion's Gravitation and Spacetime which was re-released in 1994. I have the 1969 edition, but from the notes it looks as if all the original material was preserved.

For engineering, I think the Arfken book would serve you better. But you may want to read Ohanion to get a clearer grasp of what tensors are and how they're used.