Embedded design isn't something you just jump into and do! There are MANY books... But the embedded designer is the guy who writes the books..
Many aspects of achieving a decent design isn't probably written... When I made my first PCB it was next to worthless, useful as a coaster and that's all.. Since all the pitfalls and headbanging I can get PCB''s made and populated now that run in very harsh conditions.. You don't get this from books....
Well you do, but reading through forums and book resources.. Observing other designs, many other designs! There are starter books that start you on your way, but each hurdle will be different... Its a long haul, a lot of throwing stuff at walls, but worth it in the end... The books you'll need will mostly be reference books... Datasheets give the most information as hooking devices together is paramount!!
Get a copy of the "Art of Electronics"... Learn about noise and shielding... Start small... I'm sure others will give more advise... I have thousands of books, but I really don't think they help too much....