Yes. As you learn ASL, you will learn the rules of grammar and syntax. If you are taking an ASL class, your instructor should be explaining and using the rules.
Others here have given some online resources. The book that I recommend for learning the grammar rules is from the Green Book Series, titled A Teacher's Resource Text on Grammar and Culture by Charlotte Baker and Dennis Cokely.
[URL unfurl="true"]http://www.amazon.com/American-Language-Teachers-Resource-Grammar/dp/093032384X[/URL]
