Aside from cranking the math, here's how I think about it: in the far field of a small aperture, the electric field has spherical phase (think expanding circles), and the field distribution is the Fourier transform of the aperture. A lens is an element that adds spherical phase - a plane wave passing through a convex lens now has a spherical phase distribution. So the lens focal point is now the tiny aperture in that system, and since the math works out the same no matter which way the light is going (reciprocity), the focal point is the FT of the field at the input of the lens.
Goodman is great, Hecht and Zajac covers more fun with optics at an intro level.
Goodman is great, Hecht and Zajac covers more fun with optics at an intro level.