Explain How Messages Travel To And From The Brain Through The Nervous System

I’m curious to know how messages travel to and from the brain through the nervous system. I understand that the nervous system is made up of the brain, spinal cord, and a vast network of nerves that extend throughout the body. I know that the brain is the control center for the body and sends signals to the rest of the body through the spinal cord and nerves. But I’m not sure how the messages actually travel. Could someone explain to me how the messages travel to and from the brain through the nervous system?