I've used Createspace (now KDP Print). Essentially what it boils down to is deciding a cover size, formatting your book internals to fit that cover size, with the appropriate margins (the inside margin where the fold is needs to be larger), spitting out a print-ready PDF, then generating a cover, which consists of the front cover, spine, and back cover. Because your spine size depends on your internal page count, it's best to figure out the internals first. KDP has templates that make it easier to make a cover if you want to do it yourself. Once that's all done, you take your print ready internals and cover, go to KDP or whatever publisher of choice you want to use, and follow the steps. An ISBN will be generated for you (and automatically placed on your cover art), or you can provide your own.
It's basically that easy, and the rest is a bunch of toying around. If you've got everything written in a non-book program, you can format everything with a combination of margin options and page size and VERY liberal use of page breaks. I don't recommend it though. Something like InDesign might be better, but it will have some learning curve. The same goes for your cover, MSPaint could technically work, but something like Photoshop/Illustrator will work better.
Hope that helps, even though it's not very specific. Every step has a lot of sub-steps to take care of and learn about, so take it easy and do it one bit at a time. Focus on book layout first, because if you have a specific style in mind for how your haikus should be laid out on the page, it's going to all happen there, and your page size choice may restrict you.