In the Footsteps of Faith by John F. MacArthur

This is a simple tour through the life of fourteen biblical characters who exhibited lives of faith. Some of the all-stars on display include Abraham, Moses, John the Baptist, Peter and Paul. But some lesser lights are also highlighted such as Rahab, Lydia and Epaphroditus.

This is a straightforward, relatively uncomplicated book suitable for a Sunday school class or Bible study. It even includes a study guide for that purpose. I personally found the last chapter on Jesus Christ to be the most helpful.