Full text is available here: https://mitpress.mit.edu/sicp/full-text/book/book.html (or PDF at https://github.com/sarabander/sicp-pdf).
It is IMHO the most important book on programming and programming languages ever published.
After watching the first 10 minutes of the first lecture, was so good I immediately got my super-non-techy housemate to watch it, after explaining how revered among programmers the book is. She said "Thank you for showing me that!" hehe.
Yeah, the lecturers are really good, and IIRC, the videos were professionally produced (HP paid for them). The book is written like course material for a maths class, more than a commercial programming book.