I don't think that's possible. In forward-proxy scenarios yes, because the proxy just forwards the request to the resolved destination without decryption and analysis. But in reverse proxy, since the header is encrypted, the proxy server wouldn't know what to do with the request...unless it can decrypt it and see what the request actually is. Below is an exerpt from Squid documentation for version 2.5. I know you asked about version 3.3, but I think the point is still quite valid.
It is possible to intercept an HTTPS connection to an origin server at
Squid's https_port. This may be useful in surrogate (aka, http
accelerator, reverse proxy) environments, but limited to situations
where Squid can represent the origin server using that origin server
SSL certificate. In most situations though, intercepting direct HTTPS
connections will not work and is pointless because Squid cannot do
anything with the encrypted traffic -- Squid is not a TCP-level proxy.
If you can provide some details about your intention with the reverse proxy, and why you want to avoid a MITM config, maybe another solution will present itself.
Lastly, to specifically answer your question about the best source of documentation... I find the default squid.conf file to be very helpful.