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Liberating Our Dignity, Saving Our Souls (Chalice, 2006)
Loving Home: Caring for African American Marriage and Family (Pilgrim Press, 2000)
In Other Words: Incarnational Translation for Preaching (with Charles H. Cosgrove, Eerdmans, 2007)
Speak To Me That I May Speak (Pilgrim Press, 2006)
The Passion of Interpretation (Westminster/John Knox Press, 1992)
Toward Liturgies That Reconcile: Race and Ritual among African-American and European-American Protestants (Ashgate, 2007)
Jacob's Wound: Homoerotic Narrative in the Literature of Ancient Israel (Continuum, 2005)
Reading Derrida, Thinking Paul: On Justice (Stanford University Press, 2005)
The Insurrection of the Crucified: The 'Gospel of Mark' as Theological Manifesto (Exploration Press, 2003)
The Man Jesus Loved: Homoerotic Narratives from the New Testament (Pilgrim Press, 2003)
Santidad bìblica (Seminario Metodista de Mexico, 2002)
Loyalty to God: The Apostles Creed in Life and Liturgy (Abingdon Press, 1992)
Good News to the Poor: John Wesley's Evangelical Economics (Abingdon Press, 1990)
Beyond Theism: A Grammar of God-Language (Oxford University Press, 1985)
The King Within: Accesing the King in the Male Psyche (with Robert Gillette, revised and expanded edition, Exploration Press, 2007)
Facing the Dragon: Confronting Personal and Spiritual Grandiosity (Chiron, 2003)
The Archetype of Initiation: Sacred Space, Ritual Process, and Personal Transformation (Xlibris, 2001)
Author: Money and the Way of Wisdom: Insights from the Book of Proverbs (SkyLight Paths, 2008)
Co-editor: Contesting Texts: Jews and Christians in Conversation about the Bible (Fortress Press, 2007)
The Discourse of Wealth and Poverty in the Book of Proverbs (E.J. Brill, 2006)
Co-Editor: Relating to the Text: Interdisciplinary and Form-Critical Insights on the Bible (JSOTS 384; T & T Clark, 2003)
Beyond Monotheism: A Theology of Multiplicity (Routledge, 20007)
Re-Imagining the Divine: Confronting the Backlash Against Feminist Theology (Pilgrim Press, 1999).
Critique of Western Theological Anthropology: Understanding Human Beings In A Third World Context (Edwin Mellen Press)
Walkin' the Talk: Keepin' the Faith in Africentric Congregations (Pilgrim, 2005)
Practicing Safer Texts: Food, Sex and Bible in Queer Perspective (T. & T. Clark, 2005)
Editor of Queer Commentary and the Hebrew Bible (Sheffield Academic Press/Pilgrim Press, 2001)
Sex, Honor and Power in the Deuteronomistic History (Sheffield Academic Press, 1996)
Power in the Blood? The Cross in the African-American Experience (Orbis, 1998)
Editor: Adam, Eve, and the Genome: The Human Genome Project and Theology (Fortress, 2003)
Co-Editor: Lift Every Voice: Constructing Christian Theologies from the Underside (Orbis, 1998)
Casting Stones: Prostitution and Liberation in Asia and the United States with Rita Nakashima Brock(Fortress, 1996)
Co-editor: Off the Menu: Asian and Asian North American Women’s Religion and Theology (Westminster John Knox, 2007)