ECMAScript editions are approved and published as a standard by the ECMA General Assembly on a yearly basis. All development is public on the Ecma TC39 GitHub organization, which hosts proposals, the official specification text, and meeting notes.
Before the 6th edition of ECMAScript (known as ES6), specifications were published once every several years, and are commonly referred by their major version numbers — ES3, ES5, etc. After ES6, the specification is named by the publishing year — ES2017, ES2018, etc. ES6 is synonymous with ES2015. ESNext is a dynamic name that refers to whatever the next version is at the time of writing. ESNext features are more correctly called proposals, because, by definition, the specification has not been finalized yet.
The current committee-approved snapshot of ECMA-262 is available in PDF and HTML format on Ecma International's ECMA-262 language specification page. ECMA-262 and ECMA-402 are continuously maintained and kept up to date by the specification editors; the TC39 website hosts the latest, up-to-date ECMA-262 and ECMA-402 versions.
New language features, including introduction of new syntaxes and APIs and revision of existing behaviors, are discussed in the form of proposals. Each proposal goes through a 4-stage process, and is typically implemented by JavaScript engines at stage 3 or stage 4 and thus available for public consumption.
See Wikipedia ECMAScript entry for more information on ECMAScript history.