There is no perfect one, but there are several good ones:
Man In the Music by Joe Vogel - on the music career
The King of Style by Michael Bush - on Michael the entertainer
The Maestro by Chris Cadman - an encyclopedia of all creative works by Michael and his family
You Are Not Alone by Jermaine Jackson - on the Jackson 5/Jacksons years
My Friend Michael by Frank Cascio - on 90s-early 00s
Remember the Time by Bill Whitfield et al. - on the late 00s.
Then there is a bunch of good niche books:
Xscape Origins by Damien Shields - stories behind the songs on Xscape album
Earth Song by Joe Vogel - history and analysis of Earth Song
Private conversations in Neverland by Dr. Van Valin - about the author's friendship with Michael
A life for L.O.V.E. by Brigitte Bloemen et al. - a collection of stories about Michael's humanitarian side
These are some of the best, although I'm not caught up on a few latest ones.
I think in terms of books, Michael is well-covered. I would have liked to see a good photo book with careful selection of high quality photos. Michael has dozens of really stunning photos, but all photo books that have come out have been somehow deficient: some include shitty paparazzi photos, others couldn't resist from judgmental spite in the commentary, yet others just don't feature a good selection of hi-res photos. They also usually constitute a pointless collection of photos. Even Opus was underwhelming and all over the place. Meanwhile, you could tell Michael's life in photos. I wish the estate released a good coffee table book that does that and that every fan would want to have.