plenty of resources online, not only are they comprehensive, they're also free. But, if you really want to get a book to hold or something, there's a whole series of books about these processors
You can start with Cortex M0. I recommend this book: https://www.amazon.com/Definitive-Guide-Cortex-Cortex-M0-Processors/dp/0128032774/ref=sr_1_3?dchild=1&keywords=definitive+guide+to+cortex&qid=1627321589&sr=8-3 You can go with Discovery F0 board by ST.
The RP2040 on the Pico has an ARM Cortex-M0+ core, thus anything you can find for this core is applicable to the RP2040 & Pico.