Reddit reviews Capoeira 100: An Illustrated Guide to the Essential Movements and Techniques
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Blue Snake Books
There are lots, of varying quality.
Off the top of my head are the books by Nestor Capoeira, who is deeply respected for lots of reasons. He has a series of three books, only one is formatted as a sort of technical manual, but the others are highly entertaining and fascinating in their own right and discuss important elements beyond just the movements of capoeira.
http://www.amazon.com/Nestor-Capoeira/e/B001JRUQ8Y
There is also the Capoeira 100, and Capoeira Conditioning. These have some issues, while the contain photos of various movements, the instructions seem to go like "First, prepare to do the flip, next, perform the flip, finally, finish the flip." Also be aware that different capoeira groups use different names to refer to moves, there are very few that are completely stable between groups, so the names of the moves in the book might not be how they are referred to by any group you meet.
seriously though, google is your friend. So is amazon books.
There are lots of youtube videos, around too. Like Com Expressao who have a basic movements video, and some tutorials on more advanced moves, but those that i've seen do not discuss the use of those movements in the roda. They post here occasionally as well as /u/comexpressao .