If you want a couple of fun an lighthearted true stories, "A Sail of Two Idiots" by Renee Petrillo and "Boat Girl" by Melanie Neale are enjoyable.
The first is a story of the author and her husband Michael going from clueless landlubbers to clueless liveaboards. Written simply and honestly and features "What We Learned" and "What We Fixed" sections in each chapter.
The latter is about a girl going from little girl to young adult as a liveaboard with her parents and sister. Great perspective and a must read for anyone who has kids and may be planning to do the same. Probably good for teens who live aboard or may be doing so soon.
Another good book is "Living a Dream" by Suzanne Geisemann, who was the aide to the chairman of the JCOS on 9-11-01. She and her husband retired from the military to live aboard their boat. Nicely written and appropriate for those planning on living the dream.
None of them are Pulitzer Prize winners or will inspire you to pen your own piece of classic literature, but if you want to kick back on deck or on dock with a glass of rum and a comfortable hat dreaming of your own adventure, these will do just fine!