The Android Developer's Guide has a detailed guide on this: Shape Drawbables.
<shape xmlns:android="http://schemas.android.com/apk/res/android"
android:shape="rectangle">
<corners android:radius="3dp" />
<stroke android:width="5px" android:color="#1a1a1a" />
button with shadow
<layer-list
xmlns:android="http://schemas.android.com/apk/res/android">
<item android:drawable="@drawable/shadow"/>
<item
android:drawable="@drawable/button"
android:bottom="4px" />
</layer-list>
</shape>
Refer this tutorial