I had such a self-paced course in the '70s based on the book "Fundamentals of Logic Design" by Charles Roth, Jr. It should be noted that the book was specifically written for self-paced study, and as such acted as a sort of tutor by carefully laying out a sequence of reading short segments, answering short questions about the material, then doing more involved problems. I found this course to be very effective and motivating for me, especially given the undergraduate class sizes.