"Uncle Frank: The Biography of Frank Costello", by Leonard Katz has the best Amazon rating.
"Frank Costello: Prime Minister of the Underworld", by his long time attorney George Wolf, has a little too much praise for him according to reviews. But certainly might be an enjoyable read to someone who liked him in comparison to other mobsters.
Both of these books came out in the 70s, so obviously you won't get much on what effect Frank's legacy has on events and people thereafter.
There's a new one that just came out called "Top Hoodlum" by Anthony DeStefano. Considering it's recent, one could hope the writer does a good job of connecting Frank's legacy to events since then, right up to modern day. Don't know much about it, however.