1776 by David McCullough is apparently a good starting point. It has sat on my bookshelf all these years untouched, but I've heard that it accomplishes what it sets out to do.

The Founding of the United States: 1768-1815 is another one from my bookshelf, but I can at least say I skimmed this one. It is far more condensed than "1776", more toward a 6th-8th grade type of reading experience, sort of short and to the point.

If you want to go in depth with primary sources, a book titled The Constitution of the United States of America: And Selected Writings of the Founding Fathers contains a lot (but not all) of the writings from that time period. It contains The Federalist Papers, presidential addresses from the first 4 presidents (Washington, Adams, Jefferson, Madison), Common Sense by Thomas Paine, and much more. I suggest purchasing a separate copy of The Antifederalist Papers to help round things out a bit, as that is not included.

I can't think of any specific titles, but there are also books out there containing all the speeches and/or writings of Washington, Franklin, and Jefferson just to name a few. Pick a name, and chances are you're bound to find something.