I have not found an introduction tutorial that assumes you go from no iOS knowledge to a working app with just code instead of storyboards. DO you know of a tutorial that does this?
Alternatively this is the same tutorial using Swift: https://medium.com/@danstepanov/your-first-ios-app-100-progr...
Sadly the images in those articles don't have alt tags, but the images are well described by the surrounding text.
Googling "build iOS views programmatically no storyboard" should bring up some more resources. The rest of iOS development will be normal/consistent with other tutorials--the only thing that's different is learning to describe the view itself in code.