I'm a big fan of Eckhart Schnabel's work on early Christian mission.
He's just released a new volume entitled "Paul the Missionary: Realities, Strategies and Methods"
Schnabel recognizes his debt to Roland Allen's classic written a century ago, "Missionary Methods: St Paul's or Ours"
There are some well written reviews of Schnabel's work on Amazon. I'm off to buy my copy today.
Schnabel is very thorough. It won't be a light read, but he is one of the best at providing a biblical foundation for mission theology and practice.