Differential Geometry of Curves and Surfaces : Second Edition by Manfredo P. do Carmo

One of the most widely used texts in its field, this volume has been continuously in print since its initial 1976 publication. The clear, well-written exposition is enhanced by many examples and exercises, some with hints and answers. Prerequisites include an undergraduate course in linear algebra and some familiarity with the calculus of several variables.
Binding: Paperback / softback