D.B. Johnson has written and illustrated several picture books based on the life and writings of Henry David Thoreau. My 4 year-old enjoys the stories about Henry, who is a bear in the books, and his various adventures. I'm not sure how much sense the books make, but many children's picture books are silly stories and these books are fun for me to read. There is a page of notes in the back of each book that tells the background of the story, including where it appears in Thoreau's works, and an inspiring quote. From the notes to Henry Builds a Cabin, an excerpt from Walden:
"Most men appear never to have considered what a house is, and are actually though needlessly poor all their lives because they think they must have such a one as their neighbors have."