If this is for insurance or tax write-off and you do not have an invoice:
http://www.appraisers.org/courses/
The IRS requires such a document for donating any work and your insurance company should advise you if they need a written appraisal if, in fact, you do not have an original invoice.
If you are trying to sell the piece, there may be some information on the interent by Googling Rockwell with the title of the piece. This will give you an idea of what it is selling for on the secondary market. I have little knowledge of what the market for Rockwell is these days. Because of the sluggish economy, no art other than bonafide old or modern masters that are in museums is doing that well. The print market is extremely volatile.