The photo essay in the book told the story of Prince taking a residency at London's Dorchester Hotel. The pictures were shot by famed photographer Randee St. Nicholas.
Karl Fowler, chief executive of Opus, said Prince wanted to tell a "story within a story" that included a fantasy about a maid cleaning his room while he was out.
The story also includes Prince heading to Prague, Czech Republic, for a night of fun. "We thought it was quite endearing and creative," Fowler said.
Zenon Texeira, Opus' creative director, said the superstar was involved in almost every aspect of planning and executing the project.
The photo essay was also meant to be a celebration of Prince's music.
Fowler said of his experience working with Prince, "We just didn't want it to end."
As part of the book, the singer also shared lyrics and poetry he had penned.
Prince contacted Opus about working on the project because he admired their past work.
"He called us to put the project together and in short we jumped at the chance," Fowler said. "We then spent the next few months discussing and working with him."
Before he died, Prince had been talking to Fowler and Texeira about putting together a retrospective of his career, they said.