Yup, I know of two good books:
Using Drupal by O'Reily
This book gives you a real foundation for how to build sites using Drupal, Content Creation Kit module and the Views module as well as setting permissions, setting up a decent administration section and handling common things like comments, user accounts, photo galleries, blogs, job applications, etc... A definite good book to get started with.
Pro Drupal Development by APress
This book is heavy on development, code, php, configuration, etc.. and gets into the guts of the Drupal system.