The Seasoned Schemer

Two books that did for me what I think you are looking for: - From Mathematics to Generic Programming by Stepanov & Rose - Gödel, Escher, Bach: an Eternal Golden Braid by Hofstadter - The Little Schemer / The Seasoned Schemer

There aren't many tech books I've read front to back and done pretty much all exercises. Exceptions include "The Little Schemer" and "The Seasoned Schemer". Importantly, they really up one's ability to write higher order functional (and pure functional) code leaning heavily on a style that would help in any functional language with tail call optimization.

I would recommend you start with The Little Schemer and follow up with The Seasoned Schemer (the sequel to the other book). These two will give you a good feel for some aspects of Scheme programming, but they will not go into the same depth about the fundamentals of computer science you'll get from SICP. After reading them, then you should advance to either How To Design Programs as suggested before SICP or if you're feeling really ambitious jump right to SICP.