The Canadian border-crossing website has all the info and many of the forms can be downloaded.
I'm banned from Canada forever now - but up to a few years ago I brought equipment out to the USA several times.
The Canadian government wants me to buy a "subscription" to visit Canada. Wanted around $1000 last I checked for some sort of "waiver." That because of a few bar fights I got in ca. late 1960s. Isn't information technology wonderful now adays? If I'd been arrested 20 years later I'd be allowed in Canada. But because I was arrested before computers existed, and my records are either lost -or buried in old microfilm somewhere - all the Kanuks know is that once upon a time I was arrested for something. Therefore they want $1000 from me to cross the border. I live in New York and northern Michigan and cutting through Canada is the shortest route back and forth. So now we take NY to PA to OH to MI and heck with Canada.