Before going into details please take a look QWP docs (qListForm and qListView sections).
If you're on QWP 5.7 for SP2010 then when you add them on a page you'll see links to videos about these web parts.
If you're on older versions there is collection of exercises (CBT) that show the capabilities you're interested in.
If you still nedd help please let me know.
The missing ID message shows up because the ID of the item you want to edit is missing.
This is how the URL should look like for a successful edit: