The Seven Core Principles of Waldorf Education is an exciting, recently published book. The principles were developed over the course of a few years by The Pedagogical Section Council (PSC) to establish the essential aspects that characterize Waldorf education.
The PSC is a circle of experienced and trusted Waldorf educators in North America. From dedicated study, they offer guidance for the furthering of Waldorf education and for an increased understanding of classroom practices to support both teachers and staff.
Peter Lawton of the City of Lakes Waldorf School in Minneapolis created a 38 minute video with a dash of humor unpacking each principle in some detail. He successfully explains some dense concepts behind Waldorf education.
Here is also a shorter written description for a quick read.