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Yes, there are books with recipes for pet food.  Some are informational books with recipes included, such as the two I mentioned in the Commercial Pet Food Industry post.  Some are actual cookbooks, such as the Three Dog Bakery Cookbook.

If you do some Internet research on homemade pet food, you will find quite a few sites.  Most will be for treats and kibble, although it's not impossible to find information and recipes for non-kibble food.

Wherever you get recipes from, evaluate them before actually making them.  Some are lopsided in terms of complete nutrition (does not apply to treats).  Some use ingredients, such as wheat, you may not want in you pet's food.  Most of the recipes I found on the Internet were repititions of a single recipe the "author" found elsewhere.  

Let me use the Three Dog Bakery Cookbook (since I own it) to illustrate a couple of points.

I purchased this book because Three Dog Bakery is well-known, was the first doggie bakery, and all their products are natural.  I feed our animals wheat, corn & soy free ... wheat and corn are major allergins, and soy, unless non-GMO, has no long term studies to prove safety through lifetimes and generations ... so imagine my surprise when I took my first look at this book's recipes and found wheat (and/or corn) in almost every recipe.

Because I've been doing research, both for the animals and ourselves, and because I've been cooking for many years, I know ingredient substitutions can be made, be it for allergies or preferences.  So if I'm preparing one of the recipes that calls for wheat flour, I'll use an alternative flour such as oat, brown rice, or coconut.  If a recipe calls for pasta, look for pasta that is not made with wheat.  If you can't find an alternative pasta, don't not make the recipe.  Just put a note on it to not feed it more than once every week or two.  Unless your pet is allergic to wheat, having wheat a few times a month won't hurt.  My decision to feed our animals wheat-free is a personal preference.  You may feel differently.

Many of the recipes in the book sound tasty enough to serve to your family, but the meal recipes are not always balanced and may need to be supplemented with additional food and/or vitamin.  

A good example is the Hungry Mongrel Turkey Burgers (which I actually have cooked for our dinner and added seasonings).  They're quite tasty, but in the end, all they are are turkey with some rice and bread crumbs.  So you would need to either serve the burgers with some vegetables and fruit, or serve the burgers at one feeding and the veggies and fruit at another.

A little common sense, basic knowledge of nutrition and ingredients, and a little effort will go a long way in preparing healthy, tasty food for your pets.