The first and only book that comes to mind would be Kimon Nicolaides' book, "The Natural Way to Draw." I'm a bit reluctant to recommend it, however, only because it is a workbook with a clearly defined regimen of study which is very structured and requires a lot of time. (Check out some of the reviews for this book on Amazon.com and you'll see what I mean.) He talks about gesture drawing but it is only a part of his overall approach. I tried to go through it, but didn't get very far, mostly because I was doing basically the same thing every day in art school! such as... gesture drawing, contour drawing, mass drawing. I learned how to draw the best way possible, as I wrote above, with great instructors: Douglas R. Graves, Bill L. Parks, and Joseph Vanden Broucke. You might check out Graves' books, too, although I don't recall how much - or even if - he talked about gesture drawing. Mostly, just know that very little knowledge is required to learn gesture drawing. It's a matter of practice, practice, practice. There ARE some YouTube videos that look very good. Just do a search and I'm sure you'll find some. Hope this helps and good luck!
RE: Why and How Artists Sketch the Human Form to Acquire Drawing Skills