This is my understanding, and anyone is free to correct me:
All amino acids are ionizable, due to the alpha amino group and the alpha carboxyl group. For those amino acids with side chains that are not electrically charged (which we can consider not ionizable), calculating the pI is as simple as averaging the pKa's of the alpha amino and carboxyl groups. Their pI's will be in the 5.5 neighborhood, as the pKa of the amino group is roughly 9 and the pKa of the carboxyl is roughly 2. Thus, (9+2)/2 = 5.5
The tricky part is when you calculate the pI of amino acids with electrically charged side chains. These will usually be given. For example, lysine's side chain pKa is around 10. So then we can think about the amino acid at different pH values. At a high pH, such as 10-11, we know that the alpha amino group and the side chain amino group will both be neutral while the alpha carboxyl is negative. The isoelectric point is where the molecule is neutral, so we need to find the point where the aminos each equal "half of a positive charge" to balance out the negative carboxyl. We can find this by averaging the pKas of the aminos: (9+10)/2 = 9.5. In actuality, the pI for lysine is listed as 9.74, but it's enough to get you into the ballpark.
As a further example, at a very low pH the alpha carboxyl and side chain carboxyl of glutamic acid will both be neutral while the alpha amino is positive. Thus we'll need to find the point where the carboxyls are both "half negative". The pKa of glutamic acid's side chain is around 4, so (4+2)/2 = 3. Glutamic acid's real pI is listed as 3.08.
Let me know if you have any other questions