Kanban in Action by Marcus Hammarberg and Joakim Sundén is a good introduction. In this book, the guiding principles of Kanban are presented almost like parable

Kanban in Action by Marcus Hammarberg and Joakim Sundén is a good introduction. In this book, the guiding principles of Kanban are presented almost like parables as the authors introduce you to their fictional team "Kabaneros".