Baldwin-Dancy, Rahima
You Are Your Child's First Teacher.
Celestial Arts, Berkeley, 1989.
28 reviews at Amazon. From the top rated:
By FrazzledMommy - 
This book is one of the few books on parenting and early childhood education that is based on the child's true needs. This book truly allowed my inner parenting philosophy to blossom.

Patterson, Barbara J. and Bradley Pamela (ed Nancy Parson)
Beyond the Rainbow Bridge,
Michaelmas Press, 2000 (Amazon with 22 reviews).
By Susan Trexel "almond_cakes" (Near the great state of Idaho) - 
...whether you are into Waldorf education or not. I am not a Waldorf purist---meaning I do not send my children to a Waldorf school (I homeschool)or necessarily follow or believe in Rudolf Steiner's philosophy. Yet I have read several Waldorf books on caring for and educating children, because they are very wise as to what children really need ... Do yourself and your children a favor and read this book. You'll be glad you did.

Jack Petrash
Understanding Waldorf Education: Teaching from the Inside Out.
Floris Books 2003.
“Jack Petrash's eloquent, wise, and deeply moving book gives me a new found appreciation for Waldorf education. Even though I have been a Waldorf parent for nearly twenty-five years and a Waldorf teacher for nearly two years, I found Petrash's explanation of the curriculum's three-fold approach fresh and illuminating. Whether you are a parent, an educator, a policy maker, or simply a person interested in human growth and learning, read this book. You will learn how relevant education through the "head, heart, and hands" can be for our children and for the future we hope to create. “ --Eric Utne, founder of the Utne Reader -- Review

Finser, Torin
School as a Journey: The 8 Year Odyssey of a Waldorf Teacher and his Class.
Anthroposophic Press, New York, 1994.
Torin Finser's School as a Journey is an inspiring account of one teacher's odyssey. Along the way, he reveals the secrets of good education in any setting: effective partnership with parents, a strong sense of collegiality among the staff, and—above all—the presence of dedicated teachers who are motivated by a sincere love and respect for their students. —Ernest Boyer, President, Carnegie Foundation

MORE

Barnes, Henry: An Introduction to Waldorf Education. Mercury Press, Chestnut Ridge, NY, 1985.

Clouder, Christopher (Ed): (Rudolf Steiner) Education: An Introductory Reader. Rudolf Steiner Press, London, 2004.

Clouder, Christopher & Rawson, Martyn: Waldorf Education. Floris Books, Edinburgh, 2003.

Elkind, David: The Hurried Child, (Paperback) Perseus Press, 1989.
Washington Post, 11/5/09 “Read The Hurried Child by psychologist David Elkind. It explains the development of children so well and gives such good reasons for slowing them down that you'll want to give a copy to every parent you know.”

Fenner & Rivers: Waldorf Education: A Family Guide, Michaelmas Press, Amesbury, MA, 1997-2000.

Gorman, Margaret: Confessions of a Waldorf Parent. Rudolf Steiner College Pub., Fair Oaks, CA, 1990.

Harwood, A. C.: Life of a Child. Rudolf Steiner Press, London, 1979.

Healy, Jane: Failure to Connect: How Computers Affect our Children's Minds for Better and Worse, Simon & Schuster, NY, 1998.

Pearce, Joseph Chilton: The Magical Child, Plume, 1992.

Querido, René: Creativity in Education: The Waldorf Approach. Dakin, San Francisco, 1982.

Spock, Marjorie: Teaching as a Lively Art. Anthroposophic Press, New York, 1985.

Steiner, Rudolf: Kingdom of Childhood. (Free online as .pdf) Rudolf Steiner Press, London, 1982.

Winn, Marie: The Plug-in Drug, Viking, New York, 1985.

For more, see Amelia's Waldorf and Parenting reading list, list on Understanding Waldorf Education at Amazon.com and Consumer Reviews of a number of books on Waldorf education and related subjects at former WaldorfResources site.