REASONS AND PURPOSES: Human Rationality and The Teleological Explanation of Action
was published by Oxford University Press in 2003.
Here is a link is to an 'abstract' and the table of contents for that book, and below that to the OUP web site for it.

            Abstract and table of contents for REASONS AND PURPOSES.
 

             REASONS AND PURPOSES (Oxford University Press, 2003)
            [This OUP site also has a link to a downloadable copy of the first chapter of this book.]

A recent paper of mine on some of the same issues is  "Action Explanation: Causes and Purposes".  It can be found in
 

 INTENTIONS AND INTENTIONALITY, ed. by B. Malle, L. Moses, & D. B.Baldwin, (MIT Press, 2001).

        DESIRE: Its Role in Practical Reason and the Explanation of Action  (MIT Press, 1995).
 

        THE IDEA OF A REASON FOR ACTING  (Mellen Press, 1989).