Software Foundations. Benjamin C. Pierce et al.
cis.upenn.edu
cis.upenn.edu
http://www.cs.uoregon.edu/Research/summerschool/summer12/cur...
I've read the first chapter and it's very good, I highly recommend working through the literate Coq files in Proof General, if you're familiar enough with Emacs. It's a pretty cool environment.
The presentation of the book is also very innovative. The chapters are fairly short and to the point. There are chapters which discuss theory, then chapters which implement that theory in code.