- Resurrection: Myth or Reality (1995)
- Why Christianity Must Change or Die: A Bishop Speaks to Believers in Exile (1999)
- The Bishop's Voice: Selected Essays, 1979-1999 (2000)
- Here I Stand: My Struggle for a Christianity of Integrity, Love, and Equality (2001)
- A New Christianity for a New World: Why Traditional Faith Is Dying and How a New Faith if Being Born (2002)
- The Sins of Scripture: Exposing the Bible's Texts of Hate to Reveal the God of Love (2006)
- Jesus for the Non-Religious: Recovering the Divine at the Heart of the Human (2008)
- Eternal Life: A New Vision of Religion, Beyond Theism, Beyond Heaven and Hell (2009)
- Re-Claiming the Bible for a Non-Religious World (2011)