Agile Estimating and Planning, Mike Cohn. Pearson Education, 2006.
My back-cover review was “Mike Cohn explains his approach to Agile planning, and shows how ‘critical chain’ thinking can be used to effectively buffer both schedule and features. As with User Stories Applied, this book is easy to read and grounded in real-world experience.” Let me add that he also discusses estimation, prioritization, some financial analysis, and monitoring. (Reviewed Jan., 2006)