Yes, there are books on sex education. Some books are:
- Values in sex education by J. Mark Halstead, Michael J. Reiss.
- Sex education as health promotion: what does it take? By Charles Abraham, Mary Rogers Gillmore, Gerjo Kok, Herman P. Schaalma.
- Common questions about sexual health education by Alexander McKay.
(These are merely some suggested readings. There are many more you will find)