*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