Why today? I spent a fair amount of time during my childhood reading through "command.com" in a binary editor (zap-it), mostly for changing error messages to impress girls. It didn't really work, but I learned quite a lot in the process.
It's also worth remembering that DOS came with DEBUG, so if you had the time and patience you could dig about in anything
Example usage for some of them could be discovered by going through the contents of .BAT files written by Microsoft, especially those that were a part of MS-DOS (and later Windows 9x) Setup (installer).
All the built-in commands appeared in plain text in COMMAND.COM, as did all the CONFIG.SYS parameters in IO.SYS. As far as I know there wasn't a UN*X-like strings(1) utility at the time but binary files could still be browsed with third-party tools.