The best print resource I've come across to show you how to learn how to "read math" with your kids are two books by the same authors:

Read Any Good Math Lately and It's The Story That Counts by Whitin & Wilde, (K-6)

Following are articles that describe how my family has used a number of readers with a varied age range.

Just Read It! Resources for Using Literature to Learn Math

It's the Story

Read Any Good Math