Reddit reviews I Can Be Safe: A First Look at Safety (A First Look at...Series)

I agree with others that it sounds like the first step is just teaching her how to politely interact with strangers - it's okay to wave or say hi, but it's not okay to touch them, etc. Reading something like A Little Book About Safety might help reinforce those ideas. In a couple years you could also try The Berestein Bears Learn About Strangers.

For more specifically talking about body safety, you might check out Your Body Belongs to You or Miles is the Boss of his Body. Or if you want to frame the discussion in terms of more general safety topics, maybe I Can Be Safe.