Studying the subject "the four Buddhist schools/systems of tenets" (Vaibhāṣika, Sautrāntika, Cittamātra, Mādhyamika) in English
I would recommend Insight into Emptiness by by Khensur Jampa Tegchok and Thubten Chodron. This book discusses the tenets of all four of these schools and compares and contrasts them. Further, the authors are of the same branch of Tibetan Buddhism as His Holiness the Dalai Lama and the latter author also works very closely with the Dalai Lama and is a co-author with him on many books for the western audience.
Here are images of some handy charts you can find in this book that talk about the four schools views: