Jeff,
I have Shep Paine's figure painting book and it is fantastic if you want to paint in oils. He doesn't spend much time discussing acrylics. The overall theory and technique he uses is well described and conveyed. The best technique I got from this book is the "stop sign" method where you picture a halo of light directly over the subject and assign shading or highlighting values for all surfaces of the figure based on that surfaces angle relative to the sun and/or whether the light is blocked by another part of the body.
I'd recommend this book for the techniques given, but if you want to paint in acrylics I'd get an additional book on acrylic painting to go along with it.
I also have Paine's 1st ed. diorama book and it is just as good as the figure book.
I'd definitely hunt around. They are softcover and not terribly long and $60 sounds pretty steep.
I hope this helps,
Dave