Udo Neumann and Dale Goddard cover this in Performance Rock Climbing (chapters Flexibility and Flexibility Training).
The chapters are included in the Amazon preview here: https://www.amazon.com/Performance-Rock-Climbing-Dale-Goddard/dp/0811722198/
(It's quite an old book, so I'm not sure if there are new insights already)
I generally buy a 5 pack at Climb Nashville, rather than the membership - since I have a hard time committing to regularity. I don't have my grip endurance built up, so normally I can't hold onto the wall after more than half an hour. I'll generally try to tie in some cardio, a class, or some lower body stuff so I feel like I get my time and money's worth.
What I love most about climbing is the strategic part to it. Sure you can power up a wall, but it takes strategy and finesse to be able to stretch your endurance.
Performance Rock Climbing is a great book I read in high-school when I started climbing. It really helped me work on technique.
Both East and West have great routes from 'just more challenging than a ladder', to 'I don't think a nickel counts as a foothold'. They're all marked, so its easy to realistically challenge yourself.
Performance Rock Climbing - Dale Goddard and Udo Neumann
For training purposes, Performance Rock Climbing. It's old but certainly not outdated. Really well-written and easy to understand.
edit: typos