Books are an okay option, but I couldn't get my kids serious about what they read concerning money -- not as teens. My college girl, who's about to get her first apartment, found my old copy of The Tightwad Gazette and asked if she could take it back to school with her. Can you read my book about frugal living? Why, of course, dear.
I say -- for teens -- experiences trump reading every time. I suggest you give them an allowance for a specific thing -- say, a week's groceries or back-to-school supplies, and let them figure it out. Give them enough that they can succeed, but they'll have to work at making the money stretch a bit.
When they can manage something tangible, start talking about college costs. Compare this college to that college, a dorm to an apartment, etc. This will seem kind-of-real to them.
Then move into hypotheticals about investing, saving for retirement, etc. But don't skip the fundamentals. They have to understand buying groceries before they can grasp compound interest over many years = security for life.