The sheaths that occur at surfaces in laboratory and space plasmas are reviewed with an emphasis on numerical models that can be solved with modest computational resources. The surfaces in plasma may be the interior walls of confinement devices or inserted probes. Fluid and kinetic models are presented in some detail, and particle-in-cell models are discussed briefly. The numerical methods find the spatial profile of the potential, the particle densities near the surfaces and the current to the surfaces. Maxwellian electrons and cold ions are assumed at the outset and subsequently the models are expanded to encompass (1) multiple electron populations, (2) multiple ion species, (3) finite ion temperature, (4) surfaces that emit electrons such as heated cathodes or emissive probes and (5) surfaces that emit plasma as in the Q-machine. These complications may produce nonmonotonic sheaths in which the first derivative of the potential changes sign or double layers in which the second derivative changes sign. The effect of charge-exchange collisions on ion losses to the wall and on ion current to probes is discussed, but models with collisions of electron are omitted. Some recent advances are discussed, including experiments that measure the ion distribution function in sheaths using laser-induced fluorescence, experiments and numerical models on sheaths with multiple ion species and computational models of sheaths surrounding objects in flowing plasma.