If there are foreign keys in place enforcing the relationships, TOAD can automatically generate an Erwin diagram of the table relationships. Usually they are not in place, however, because they slow down table changes and make some transactions more complicated (usually deletes).
I believe MS SQL Enterprise Manager can also automatically create a diagram for a set of tables.
Otherwise, you have to hope a column used as a key will have the same or at least a similar name across tables, and identity columns and/or unique constraints/indices are always a good clue which those are.