Do you know that Benjamin Franklin quote (which I think was actually a Chinese Proverb):
“Tell me and I forget, show me and I may remember, involve me and I learn.”
So the best way to get a young child to learn good manners is, first, through showing by your own good example and then involving them in the what and why.
Instead of looking for a book why not make up some games - they don't have to be the best games in the world but just something fun that you and your child like to do together. In this age of pressure for academic success we sometimes forget that children learn through play and often better than from a book.
Use games to reinforce your own good example, such as, who can sit nicely at the dinner table for longest (one I use with my children, although not much fun for a single child) and even awarding star stickers to the child who has the best manners - I'm always amazed at how my young children will behave so well just for star sticker!
But learning good manners takes time and patience (even many adults do not have particulalry good manners) - a friend likes to say she told her son 1,000 times to say please before he said it without being prompted and I think that is probably accurate!!