Here is the series of catecheses on the Psalms and Canticles of Vespers (Evening Prayer in the Liturgy of the Hours). It was started by Pope John Paul II and completed by Pope Benedict XVI. This series follows John Paul II’s Catechesis on Lauds and precedes Benedict XVI’s Catechesis on the Apostles. It began on October 8, 2003, and concluded on February 15, 2006, and it includes 79 general audiences. Pope John Paul II gave audiences #1-44 and Pope Benedict XVI picked up where he left off ad gave audiences #45-79.
The only book form of these audiences I have ever seen is published by the Catholic Truth Society, which is the official publisher of the Holy See in the UK.
All of these audiences are available on the Vatican Website under John Paul II’s Audiences for 2003, 2004, and 2005 and under Benedict XVI’s Audiences for 2005 and 2006.