Simply consider Maxwell equation :
$$\vec{\nabla}\wedge\vec{E}=-\frac{\partial\vec{B}}{\partial t}$$
If you interger this on a given closed surface $\Sigma$, it follows :
$$\oint_\Sigma \left(\vec{\nabla}\wedge\vec{E}\right) \cdot d\vec{S} =-\frac{\partial}{\partial t}\oint_\Sigma \vec{B}\cdot d\vec{S}$$
where $d\vec{S}=dS\,.\vec{n}$ with $dS$ the differential element of the surface $\Sigma$ and $\vec{n}$ the local normal direction of $\Sigma$, centred on $dS$. Here, $\phi=\oint_\Sigma \vec{B}\cdot d\vec{S}$ stands for the magnetic flux through the surface $\Sigma$.
At this point, Stockes theorem gives you :
$$\oint_\Sigma \left(\vec{\nabla}\wedge\vec{E}\right) \cdot d\vec{S}=\oint_\Gamma \vec{E}\cdot d\vec{l}$$
where $\Gamma$ is a given contour included in $\Sigma$, and $d\vec{l}=dl.\vec{r}$ is the differential length element along $\Gamma$.
What is called emf is simply $e=\oint_\Gamma \vec{E}\cdot d\vec{l}$. Then directly follows :
$$e=-\frac{d\phi}{dt}$$
If you want to interprete the $-$ signe, keep in mind that it is linked magnetic flux conservation that follows a moderation law : "Effects are in opposition with their causes".