A switching regulator converts one voltage to another with minimal
power loss. Here is a tutorial on the subject to get you started.
http://www.national.com/appinfo/power/files/f5.pdf
This page on the National Semiconductor site will design a switching
regulator for you, to your specifications:
http://www.national.com/appinfo/power/
That said, 50 ma drawn from a 24 volt source represents only 1.2
watts, total. So a linear regulator would have to waste no more than
(24-3.3)*.05=1.03 watts. That is about what a square inch of heat
sink could dump.