There is no other way to really understand special relativity than to learn the math. In fact Einstein's paper of 1905,
http://hermes.ffn.ub.es/luisnavarro/nuevo_maletin/Einstein_1905_relativity.pdf
as far as the non-electrodynamics part is concerned is pretty readable and demands only the minimal mathematics needed. So, how far can you get understanding that paper?
The famous formula ##E=mc^2## is not in this paper, but on a very short addendum,
https://www.fourmilab.ch/etexts/einstein/E_mc2/e_mc2.pdf
It's also pretty little math demanding, and even more important, other than the most popular-science explanations, it exactly describes the correct physical meaning of the the famous formula and not some misleading gibberish about "relativistic mass".
For the electromagnetic part of the paper, I recommend a modern textbook using modern vector notation for the Maxwell equations etc. Einstein's notation, writing out everything in components, is very inconvenient for modern eyes. A bit later Einstein himself adopted the very efficient Ricci notation, adding his "summation convention" to make it even more efficient :-).