As Oggers said, have a look in the PANS or TERPS.
ICAO has produced PANS-OPS (ICAO Doc 8168), Procedures for Air Navigation Services, Aircraft Operations. It is devided into two volumes:
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Volume I — Flight Procedures*
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Volume II— Construction of Visual and Instrument Flight Procedures* (This is probably the one you are looking for in your question)
PANS-OPS are used in Europe and most other countries.
USA and some other countries uses
TERPS. These include Canada, Korea, Saudi Arabia and Taiwan. These procedures are in many ways similar to ICAO PANS, but there are some differences (especially regarding circling approaches).
*Unofficial source.