Assuming these are DOT cylinders (probably 30 pound ones), similar to barbecue ones but taller, you'd generally shut the valve on the top of the empty one, unscrew the pigtail to the regulator, and take the tank to a place that fills them. They'd take it, fill it, and you'd pay them for the propane, and then put it back in place. I assume you have an automatic changeover regulator, which would mean flipping a lever or something to swap which cylinder is the primary one and which is the secondary/backup one...the instructions for the RV presumably would include the details for your regulator.
Places would charge by the gallon or by the pound; a 30 pound tank holds 30 pounds or about 7-8 gallons. The prices vary with the region, filler, market conditions, etc. but somewhere in the vicinity of $20 would not be an unreasonable very rough guess to fill one of the cylinders.
I don't know about California, but around here many hardware stores, Agway stores, TSC stores, propane dealers (the ones that have trucks and deliver propane to houses for cooking etc.), and quite a few commercial campgrounds sell propane. Home Depot and Lowes and similar big box home supply stores seem to rarely if ever have it. If you're in the national forest, you of course need to go somewhere that sells propane to get one refilled; but if you aren't using the furnace, you should not need to buy propane frequently, maybe once every couple weeks or so.