While books are a great tool, and I have quite a library, I think that you cannot really learn from a book.
You need to at some point train with someone in that style to truly learn it. Get a real feel for the techniques.
With that in mind, Tao of Jeet Kun Do, any of the Gracie books, Combat Jiu Jitsu, Aikido and the Dynamic Sphere and the list goes on.
Ko makes a very good point. There is no substitute for a real ‘teacher’. When things go wrong and you can’t figure out why, someone on hand to show you where you are going wrong is invaluable.
However if you don’t have access to a teacher? As Outlaw mentioned DVD’s/Videos. There are a whole host of them out there. Ones I would reccommend would be: Any of the Gracie or Craig Kukuk DVD’s, Machado, and the afore mentioned Bas Rutten DVD.
You can find them at http://sherdog.bigstep.com/