I've worked for a variety of managers over the years and the styles varied from 'management by fear' to 'no management that I could detect' and everything in between. What helped me most to grow when managing others was to observe what did not work elsewhere and which traits I appreciated in the people that managed me (in so far as I'm 'manageable' :) ).
It's not something that I ever managed to get out of a book though I'm sure there may be such books. This is a thing that you'll probably only really grow into over time.
The biggest change for me was when I finally learned to really listen to what people say, both in plaintext and 'between the lines'.
One question you can ask yourself since you are saying that you are doing a bad job at it is why you think that and then to use that as a starting point for a list of points on which you can improve.
Best of luck!