The Boy Scout Handbook has some info about camping skills, etc. and lots about Scout traditions, law, oath and motto, etc.
The Boy Scout Fieldbook is much more informative on woodsy things and goes into more detail. The older edition you can find, the better. Newer ones are kind of watered down with the touchy-feely tree hugger stuff.
If you really want to learn about camping skills, volunteer to assist with a Boy Scout troop and go on their campouts. Good units go on an overnighter every month, and have a couple of week long camps each year. Lots of fun, learn alot, and help boys grown up to be good men, too.