I tend to be of the mind to learn by doing. As many of the others have mentioned, have conversations with your team members and spend time with them. A common practice is to grab lunch with them. This will help you get to know them and become more comfortable talking and listening to them.
I would also recommend regular work oriented meetings with them. Some may disagree, but I think regular meetings to review work, and go over tasks has a lot of value. You will see when they are finishing up their work and be able to hand off tasks more readily. Also do what you can to get feedback from them on you, and don't take it personally when they are critical and learn from it.
Ultimately there is no one answer and you have to find your own style as well as a style that works for your team. A conscious effort and trial and error will be better than books.
I would also recommend regular work oriented meetings with them. Some may disagree, but I think regular meetings to review work, and go over tasks has a lot of value. You will see when they are finishing up their work and be able to hand off tasks more readily. Also do what you can to get feedback from them on you, and don't take it personally when they are critical and learn from it.
Ultimately there is no one answer and you have to find your own style as well as a style that works for your team. A conscious effort and trial and error will be better than books.