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Harriet's first two books were fantastic (the sleeping beauty and dancing princesses spoofs). The next two are still great books (Rapunzel and Jack and the Beanstalk), but they are becoming more of a series. I recommend you start with one of the first two, then you'll definitely will want to continue. My girls 6-10 both love the story. For boys, there's the Danny Dragonbreath series.
I highly recommend this series of books as well as this authors series Dragonbreath. Out of the Hamster Princess series this might be my favorite, the twists and turns of the story are very engaging. The writing pulls you into a story full of puns and humor that just continues throughout all of Ursula's books. These are a great read for kids, but I think they are a better read for the adults reading them TO kids.