Reddit mentions of The Agile Samurai: How Agile Masters Deliver Great Software (Pragmatic Programmers)

• Agile Software Development with Scrum - Less than 200 pages, the authors write in the 1st person from time to time, and have real story-like examples.
  
• The Agile Samurai - Around 250 pages, but the tone is very informal and filled with entertaining illustrations comics, dialogues, and examples of the techniques they present.

Like you I work at a tech startup. When we were just starting, our business/strategy people asked the question you just asked. They opened a dialog with development team, and found good answers. I attribute our success in large part to that dialog being eager and open-minded, just as you are being right now. So, it's good tidings that you are asking.

For us, the answer came from conversation, but it also came from reading the following books together:

• The Soul of a new Machine. Pulitzer Prize Winner, 1981. It will teach you the texture of our work and of our love for it, as well as good role models for how to interact with devs.
  
  
• Coders at Work, reflection on the craft of programming Will give you perspective on the depth of our discipline, so you may know to respect our perspective when we tell you what the technology can or cannot do -- even when it is counter-intuitive, as ModernRonin described.
  
  
• Lean Startup It will teach you the means to deal with the difficult task of providing hyper-detailed requirements when the nature of building new software is always that it's new and we don't really know yet what we're building.
  
  
• Agile Samurai Will teach you agile, which ModernRonin also mentioned.
  
  
• Watch this talk by one of the inventor/popularizer of agile, Ken Schwaber Pay particular attention to the issue of code quality over time. You will soon be surrounded by devs who will be responsible for making highly intricate judgement calls balancing the value of releasing a new feature a tad earlier, versus the potentially crippling long-term impact of bad code. Heed Ken Schwaber's warning: your role as a manager is to be an ally in protecting the long-term viability of the code's quality. If you fail -- usually by imposing arbitrary deadlines that can only be met by sacrificing quality -- your company will die.