Nilson's book (and he was my professor at Cornell) does talk about foundation design - the structural design of foundations. As the others point out, it seems that we all are of the opinion that you mean the geotechnical "design" (i.e., determining the allowable bearing capacity (in shear) which is, in practice, seldom the operative bearing stress and the allowable bearing pressures (in serviceability - i.e., settlements) which is, in practice, the governing criteria. You may have an allowable bearing capacity of 175 kPa but that might cause 40 mm of settlement and your structure - as designed by the structural engineer - has put a limit of 15 mm on the permissible vertical settlement of a footing (or might indicate a maximum tolerance level of distortion). The references the others give are quite reasonable.
I would suggest, though, that you pick up M.J. Tomlinson's book on Foundation Design and Construction. He provides actual case histories in his presentations, as do many earlier works by Tschebotarioff, Krynine and Judd (but not Das, Conduto and Bowles).