His dance manual Il Ballarino was published in 1581, with a subsequent edition, significantly different, Nobiltà di Dame, printed in 1600 and again after his death in 1630.
Tema tantsuõpik "Il Ballarino" ilmus 1581. aastal, selle järgmine, oluliselt muudetud väljaanne "Nobiltà di Dame" ilmus 1600. ja pärast Caroso surma uuesti 1630. aastal.