- Jesus and the Politics of Liberation (Augsburg Fortress, 1989)
- The Gospel According to St. Mark: A Commentary for Preaching and Teaching (Augsburg Fortress, 2003)
- The Theology of the Lukan Jesus: A Continental/British Investigation (Oxford University Press, 2010)
- The Holy Spirit and the Kingdom of God: A Biblical Theology (Baylor University Press, 2014)
- The Parables of Jesus (Eerdmans, 2016)
- The Messiah and the Kingdom: A Theological History of the People of God from the Old to the New Testament (Baylor University Press, 2018)
- The Sermon on the Mount: A Theological Commentary (Baylor University Press, 2020)
Articles:
- "The Kingdom of God and the Poor in Luke-Acts," in The Kingdom of God in the New Testament (edited by David E. Garland and Ronald B. Hays; Baker Academic, 1993)
- "Jesus and the Rhetoric of Liberation," in The Bible and Liberation (edited by Norman K. Gottwald; Orbis Books, 1993)
- "The Parables of Jesus as Models of the Kingdom of God," in The Parables of Jesus: A Symposium (edited by Howard C. Kee and David K. Adams; Scholars Press, 1994)
- "The Holy Spirit and the Kingdom of God in Luke-Acts," in The Holy Spirit in the New Testament: A Charismatic Perspective (edited by Stanley M. Burgess and Gary B. McGee; Hendrickson Publishers, 1995)
- "The Messianic Banquet and the Kingdom of God in the Gospel of Luke," in The First and Second Gospels: Transition or Turning Point? (edited by John C. Poirier and Douglas R. A. Hare; T&T Clark, 1997)
- "The Kingdom of God in the Gospel of John," in John and His Gospel: A Multidisciplinary Approach (edited by John T. Carroll, John B. Gabel, and Paul N. Anderson; Hendrickson Publishers, 2004)
- "The Theology of the Lukan Jesus: A Continental/British Investigation," in The Cambridge Companion to the Gospels (edited by Stephen C. Barton; Cambridge University Press, 2005)
- "The Holy Spirit and the Kingdom of God in the First Epistle to the Corinthians," in The Spirit and the Kingdom: Pentecostal Eschatology and the Kingdom of God (edited by Douglas A. Oss and Timothy P. Weber; Baylor University Press, 2006)
- "The Parables of Jesus as Models of the Kingdom of God in the Gospel of Thomas," in The Gospel of Thomas: Problems and Prospects (edited by Thomas L. Thompson and Thomas A. Robinson; Brill, 2008)
- "The Messiah and the Kingdom of God in the Gospel of Matthew," in The Messiah in the Gospels: An Ecumenical Investigation (edited by Mark L. Strauss and Richard A. Horsley; Wm. B. Eerdmans Publishing Company, 2010)
- "The Sermon on the Mount and the Kingdom of God in the Gospel of Matthew," in The Sermon on the Mount: A Commentary (edited by Joel B. Green and Scot McKnight; Baker Academic, 2013)