OS Cycle Tours series which consist of half on road and half off road. They are very user friendly, as they include the releavant OS map, with the route highlighted in yellow. Sometimes hard to get as often out of print but do try SUSTRANS who seem to have some in stock.
The Philips series: Amazon: customers like it.
There is also a series of laminated maps with suggested routes, called Goldeneye. However, it is not detailed enough, so you have to get the corresponding OS map and work out the route more precisely for yourself.
There are umpteen books out there - people just need to have a browse around Stanfords, Blacks, Waterstones, et al. You can also find rides on the internet.
Finally, public libraries have OS maps available to loan. If people don't want to cart a whole map around with them, or want to annotate it, they could scan and print or photocopy the relevant section.