
This first-year calculus book is centered around the use of infinitesimals. It contains all the ordinary calculus topics, including approximation problems, vectors, partial derivatives, and multiple integrals. 2007 edition.
If you're looking for a more formal approach, ie the infinitesimal analogue to the usual real analysis, it's called nonstandard analysis and you could probably start with the original, eponymous book written by the creator, Abraham Robinson, for which I unfortunately don't have a link.
If this stuff interests you btw I would also check out Knuth's book on surreal numbers[3], which I believe, in some sense, are the fullest possible extension of what we think of as numbers? But it's been a while since I read into those.
[0] https://www.bravernewmath.com/ [1] https://intellectualmathematics.com/calculus/ [2] https://people.math.wisc.edu/~hkeisler/keislercalc-06-03-26.... [3] https://people.math.harvard.edu/~knill/teaching/mathe320_201...
Was this book "Elementary Calculus: An Infinitesimal Approach", by Keisler? It's an awesome book. It's free to download at https://people.math.wisc.edu/~hkeisler/calc.html
Relevant wikipedia entry: https://en.m.wikipedia.org/wiki/Nonstandard_analysis