I wouldn't bother with a book.
I'd sit them down with the dog and have a sensible talk e.g. no ear pulling, riding, load noises, getting in their face, etc.. My GC have been taking my dogs for walks since they were 2 years old, in a safe place (grassed, no cars, adult on hand to help)
It depends on the size, age and temperament of the dog, but I'd start with smaller, older and quieter dogs by bringing them into the room and just letting get to know each other.
Older children could take photos, print them out and make their own Book of Doggy Rules.