Do you mean the new 52 version or the older versions of the Characters?
For the pre new 52 versions:
With Dick it is a little bit complicated since he wasn't Robin in the normal Batman comics since over 30 years. There many different versions of his origin story, the most popular one seems to be "Dark Victory", even if Dick appears very late in the series. Apart from this I would suggest "Robin Year One" and "Nightwing Year One". And he had of course his own Nightwing series and apperead as Nightwing in most big Batman events.
For Jason Origin story was published in Batman #408-#411 and it was afaik never reprinted, the most important stories apart from this are "A Death in the Family" and "Under the Hood" and maybe "Red Hood: The Lost Days" and "Batman: The Cult", which are all available as graphic novel.
The original Tim Drake origin story is called "A Lonley Place of Dying", I have heared that it is included in the the "A Death in the Family" paper back, but I'm not sure if that is really the case (and maybe its only for some editions). Apart from this he had own solo series and appeared in many Batman comics. The most important for his relationship with Batman are probably the ones from the early 90s (before Knightfall).
Since Knightfall Batman periodically changes between phases where he wants to go "back to the roots" (which means he works alone, and behaves like a Jerk and pushes Dick, Tim and the rest away) and phases where realises that he needs his family, calls them and behaves nicer. This change usually happens as part of some big event.
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