The Knot Book, W.H. Freeman & Co./American Mathematical Society, 1994, 2004.

How to Ace Calculus: The Streetwise Guide, with Joel Hass and Abigail Thompson, W. H. Freeman & Co. 1998.

How to Ace the Rest of Calculus: the Streetwise Guide, with Joel Hass and Abigail Thompson,W. H. Freeman & Co., 2001.

Why Knot?, Key Curriculum/Wiley, 2004.

Riot at the Calc Exam and other Mathematically Bent Stories, AMS, 2009.

Introduction to Topology: Pure and Applied, with Robert Franzosa, Pearson/Prentice Hall, 2008.

Zombies & Calculus, Princeton University Press, October, 2014.

Calculus, with Jon Rogawski, W.H. Freeman, Inc., 2015

“The Math Museum: A Survival Story”, a Math novel, MAA Press, 2022.

“The Tiling Book: An Introduction to the Mathematical Theory of Tilings”, American Mathematical Society 2022.

“Do Androids Dream of Symmetric Sheaves? and other mathematically bent stories” ,

Birkhauser, 2023.