These are the books I have mainly used for my homeschooling. They are not the only books available nor are they necessary the best. It is just what I have found to be very useful.  Most can be found at local Steiner shops.

The Christopherus Waldorf Curriculum Overview for Homeschoolers - Donna Simmons  (A must have for anyone doing Waldorf Homeschooling)

From Nature Stories to Natural Science - Donna Simmons

Drawing with Your Four to Eleven Year Old - Donna Simmons
(Christopherus Homeschool Resources)

A Path of Discovery - All volumes -
Eric Fairman

Putting the Heart Back Into Teaching -
Stanford Maher and Yvonne Bleach

Form Drawing - Grades one Through Four -
Laura Embrey-Stine and Ernst Schuberch

Take Time - Mary Nash-Wortham and Jean Hunt
(Although described for use with children with difficulties it has many movement exercises ie beanbag work that is good for any child at the early learning stage)

Waldorf-inspired Watercolour Painting with Children - Anita Briggs and Nadia Tan (Waldorf Without Walls)

The Golden Path - Craft-Technics-Practical Class 1 to 12 - Alan Whitehead

The "Write" Approach - Form drawing for
Better Handwriting - books 1 & 2

Golden Beetle Books - Alan Whitehead

The website of Millennial Child has heaps of pictures online.

And as many poem, story and craft books as I could find.