Depends what you're looking for. Full Frontal Calculus[0], Intuitive Infinitesimal Calculus[1], and Elementary Calculus[2] are all textbooks on the calculus sequence using an infinitesimal pov. The basic approach is to extend the Real numbers to include infinitesimals (greater than zero but smaller than every positive real number) and transfinites (greater than every positive real number), collectively called the Hyperreals.

If you're looking for a more formal approach, ie the infinitesimal analogue to the usual real analysis, it's called nonstandard analysis and you could probably start with the original, eponymous book written by the creator, Abraham Robinson, for which I unfortunately don't have a link.

If this stuff interests you btw I would also check out Knuth's book on surreal numbers[3], which I believe, in some sense, are the fullest possible extension of what we think of as numbers? But it's been a while since I read into those.

[0] https://www.bravernewmath.com/ [1] https://intellectualmathematics.com/calculus/ [2] https://people.math.wisc.edu/~hkeisler/keislercalc-06-03-26.... [3] https://people.math.harvard.edu/~knill/teaching/mathe320_201...