The most useful keybinding is C-c w w, or (+workspace/switch-to).

This command prompts you a list of workspaces to choose from. I use Ivy for autocompletion, so I can type any workspace name. If there is a match, it goes to the workspace. Otherwise it creates a new workspace with the name.

Another useful commands is C-c w d, or (+workspace/display) which lists the existing workspaces. But I use it less often than C-c w w because it can show the same list with autocompletion.

Finally, you can set up Doom to show workspace name in modeline.

Note: You need to enable Doom ui:workspaces to get the above working.