The full SWI-Prolog manual is also available as a print-on-demand book. This comprehensive manual gives an overview of the system and how to set-up programming projects with it, it describes the built-in predicates, module system, coroutining, threads, the Constraint Handling Rules library, the foreign language interface and how to generate runtime applications.
Clicking the cover page at the left brings you to google books, which shows the places where you can order the book.
For European citizens, it might be wiser to order with the UK branch of cafe press. This site also provides links to other national branches of cafe press. It appears that the various national sites offer a different selection of items, notably see the Spanish shop.