Here are a few books and a website to get you started:
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Work and Play in Early Childhood by Freya Jaffke
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http://www.steinerbooks.org/otherwaldorf.html
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This website has a lot of information and also a great site to order books or request the Steiner Books Education Catalog, which has lots of great children's books as well as very informative and inspiring books on Waldorf.
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My personal favorite is "School as a Journey". This is a terrific and inspiring book about a teacher who stays with his students from kindergarten to 8th grade.
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Another book I recommend is "Free to Learn". It is a good introductory book.