Depends on approach you want to learn/teach, whether Allowable Stress Design (ASD) or Load and Resistance Factor Design (LRFD). The American Institute for Steel Construction (AISC) has both, though the ASD version is possibly not available.
These are often used as supplementary texts in Structural Engineering Courses, with the base text being any of several good general structural engineering texts by Hibbeler, Laursen or others.
The manuals may be used alone, but require a bit of supplementation by the instructor as they do not cover all issues of structural engineering as related to steel design.