The one book you really must have for the NYS canal system is he

http://www.canals.state.ny.us/exvac/cguide/index.html

It is excellent and indispensable.

There are many good guides for the ICW, too many to list, but we have
found the "Skipper Bob" books to be invaluable:

http://skipperbob.home.att.net/publications.htm