I understand your frustration. I’ve been where you describe, professionally, recreationally, and in my community involvement.
Other answers provide a lot of implementation advice getting your players introduced to the game mechanics. Before doing that, though, it’s important to adjust your mindset so that the process is fun for you, too.
SODOTO stands for “See one, Do One, Teach One.” It describes levels of mastery on a subject. You and your friends are both stuck at hurdles in the learning process.
They are asking to “See one” because looking at the rules confused them and they got frustrated. (Admittedly, many folks get frustrated very easily.)
You learned the game without asking for help. You may have had a lot better background grounding, or you may just be a talented autodidact — or both! You can be proud of that.
But the next step for you is to be willing to take on the role of teacher - because most folks need one.
Leadership is Fun
Other folks are going to need more help (true everywhere). Providing that help is what being a leader is. Try this out in your game life, and watch it spread throughout your whole life.
The better you get at this, the more people will look up to you. It’s a very good feeling.
Remember Math Class
Maybe you are like me — one of those oddballs that just loves a good rule book. I read them when I can’t fall asleep. Even games I know I’ll probably never play. I’ve accepted that this is… atypical.
Rules (of any stripe) are inherently stressful to most people. You don’t want to break them — but how can you avoid that if you don’t even understand them?
I’ve found that discussing rules with folks works best when you tackle one concept at a time. With brand new players, this starts with “How to take your turn.”
Like Math class, there will be somebody who gets it first, and somebody who gets it last. Don’t be that nightmare Math teacher who assumes that once the first person gets it, then you did a great job and it’s time to move on. Your goal is to bring everyone along.
Demonstrate How to Use the Rules
Your friends want to be shown how to play, and you think they should learn the rules. You’re both right.
When questions arise, get the rule book out and look it up — without judgement — and get the players to do so too.
In this way you are teaching the players how to actually use the rules.
Revisit the idea of reading rules in off-time, as needed
After your first session, you might let your players know you were initially frustrated that it seemed they were asking you to do all the work, but that you decided to put in some (more) effort to help them learn.
Then ask again if they can “review” the rules so you don’t end up starting over. Do it in bite-sized pieces: taking your turn, learning your class and race skills.
Expect star pupils and remedial students. Encourage your star pupils to help the others.
Ask if folks had questions at the beginning of play sessions. When it’s clear nobody glanced at the rule book in downtime, remind them the game is more fun when rules questions are not constant interruptions.
When folks really aren’t pulling their weight at all, I like to assure my players that I offer my Dungeon Mastering services free of charge — but that I’m also willing to serve as a rules tutor for my standard consulting rate.
That is, keep it light, but keep asking.
This process may never end
Considering the fact that D&D has hundreds of pages of rules (while many games have rules that fit on the box lid) it’s rare there’s a table where everyone knows every rule.
My group of friends have been playing for 35 years now, and we haven’t reached the end of rules questions. (The evening my friend quoted my own StackRPG answer back to me was certainly fun.)
Your goal should be to teach your players how to use rules. Your level of expectation should be that they get to the point where the game can proceed at a reasonable pace.
Most likely, you will always be the rules expert.