Gajendra Moksha is a very well known story of devotion. He says it's as easy as offering a leaf or a flower or a few fruits or water, but with devotion. God accept that which is given in love and not how high the sacrificial fire goes. There are many beautiful stories out there to this point.
Swami Sarvapriyananda teaches Chapter 9 Verses 26-28 of the Bhagavad Gita. In this series of talks, Swami Sarvapriyananda unfolds the highest truths of Vedanta through the study of the Bhagavad Gita (The Song of God).