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