Tom Moore's Six Ideas That Shaped Physics textbook (Unit R) does a very nice job of this. But here's a really bargain-basement handout that I made many years ago to explain the idea before I started using Moore's text for this. (I'd probably do it a little differently now.) http://www.slimy.com/~steuard/teaching/classes/spacetime.pdf
My discussion of velocity addition there (at the bottom of page three out of four in that PDF) is much too terse for this context, I'm afraid. But if you draw my example there carefully and measure in the tilted coordinates as described earlier, you'll start to see why the leftmost observer still measures the rightmost observer moving less than the speed of light.