You have to practice moving in the 6 fundamental directions: forwards, backwards, left ,right, diagonally forwards-left and diagonally backwards-right.
Practice shuffle steps in these directions, with small steps and progressively to very large steps. Practice moving slow to gain your balance and technique then practice moving as fast you can in these directions.
Also practice doing jump steps in all these directions ie. doing very small jumps in a direction by pushing off the balls of both feet.
That should get you started.
Two more I think are really good. Not footwork exactly, but it covers a technique flaw I see a lot of guys have:
http://www.mixedmartialarts.com/mma.cfm?go=forum_framed.posts&forum=15&thread=1811944&page=1&pc=10
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