Touch the tip or front edge of your tongue to the roof of your mouth just behind your teeth. Keep your jaw relaxed. Stop the air, then release with a puff.

Americans pronounce torch as TORCH (/tɔrtʃ/). You'll hear it in sentences like "Search for the lunch on the porch with the torch".
Record yourself saying "torch" and play it back. The mic stays on your device — nothing's uploaded.
1 syllable, 3 sounds. Explore each sound's mouth shape and how it's made.
Touch the tip or front edge of your tongue to the roof of your mouth just behind your teeth. Keep your jaw relaxed. Stop the air, then release with a puff.

Start with the 'aw' jaw drop and rounded lips. Pull the tongue back and up while keeping the lips rounded for the R.
Touch the front of your tongue to the roof of your mouth, then release into a 'sh' position. Flare your lips.

The textbook way isn't wrong — it's just not how anyone actually says it.
Americans use a relaxed retroflex R — the tongue curls back rather than rolling. The R is one continuous sound with the vowel before it, not two separate sounds.