Wow, nobody has ventured to answer this question yet? I guess I'll give it a try. I cannot specifically think of any books written for reading with non-illustrated pips. (But I haven't ventured to do a search on it at any of the online bookstores either, and believe me, there IS a book for everything and then some.)
However there are books I know of for Specific decks with non-illustrated pips. For instance, there are A Lot of books written just for the Crowley-Thoth deck. There's a book in the set for the Sacred Circle Tarot. There is a book in the set with the Mystic Tarot etc.
I suppose it does deal more with the number plus element way of reading. Also, it's just something you know or memorize after awhile. Ace's are all begininngs. then just add swords (air element, the mind) or pentacles (earth element, money, material items). Sixes are usually very positive, a peak. While fives are not so good, etc.
If I were to read with a deck that had non-illustrated pips (and didn't already have a specific book to go with that deck) here's some books I might use:
'Tarot dictionary and compendium' by Jana Riley. This book gives a few sentences on each of the 78 cards by 14 different known tarot authors. It's an interesting way to read tarot! ( so for instance, the Queen of Swords, you get 14 different opinions on it!) And seeing how each one of these tarot authors created a different deck , you get sort-of an Overview of that card's meaning.
'Power Tarot' by Trish MacGregor and Phyllis Vega. I don't see why this book couldn't be used with just about any deck, also
'Tarot Plain and Simple' by Anthony Louis. It is illustrated with the Robin Wood deck but not really specifically for it.
These are just some books I like to use. Truthfully, you can use whatever your favorite tarot book is. The meanings on non-illustrated pips are really the same as illustrated , if perhaps more open ended.