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A card, from the point of view of the countersheetsextension, is just a big flat counter. There is nothing special about making sheets of cards compared to sheets of counters, so try the Your First Countersheet tutorial to get started.
There is an example template file cards.svg with a corresponding cards.csv data file included that can be used instead of the files named in that tutorial to see output of cards instead of counters.
Any other tutorial, even if talking about counters, will also apply just as much to making cards (or tiles or anything else).