- Western Spirituality: Historical Roots, Ecumenical Routes (1981)
- Creation Spirituality: Liberating Gifts for the Peoples of the Earth (1991)
- Sheer Joy: Conversations with Thomas Aquinas on Creation Spirituality (1992)
- In the Beginning There Was Joy (1995)
- The Reinvention of Work (1995)
- Wrestling with the Prophets (1995)
- The Physics of Angels: Exploring the Realm Where Science and Spirit Meet (1996)
- Confessions: The Making of a Post-Denominational Priest (1997)
- Sins of the Spirit, Blessings of the Flesh: Lessons for Transforming Evil in Soul and Society (1999)
- A Spirituality Named Compassion: Uniting Mystical Awareness with Social Justice (1999)
- Passion for Creation: The Earth-Honoring Spirituality of Meister Eckhart (2000)
- One River, Many Wells: Wisdom Springing from Global Faiths (2000)
- Original Blessing: A Primer in Creation Spirituality (2000)
- Illuminations of Hildegard of Bingen (2003)
- Creativity: Where the Divine and the Human Meet (2004)
- A New Reformation (2006)
- The Hidden Spirituality of Men: Ten Metaphors to Awaken the Masculine Spirit (2008)
- Christian Mystics: 365 Readings and Meditations (2011)
- Meditations with Meister Eckhart (2011)
- Hildegard of Bingen: A Saint for Our Times (2012)
- Occupy Spirituality: A Radical Vision for a New Generation (2013)
- Meister Eckhart: A Mystic-Warrior for Our Times (2014)
- The A.W.E. Project: Reinventing Education, Reinventing the Human (2015)
- A Way to God: Thomas Merton's Creation Spirituality Journey (2016)
- Order of the Sacred Earth: An Intergenerational Vision of Love and Action (2018)
- The Tao of Thomas Aquinas: Fierce Wisdom for Hard Times (2020)
Audio Books
- Passion for Creation: The Mysticism of Meister Eckhart (1996)
- Angels: Where Science Fears to Tread (1997)
- Original Blessing: Beauty (1997)
- Seeking a New Spiritual Ground (1998)
- Radical Prayer: Love in Action (2003)