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Math History: A Long-Form Mathematics Textbook

The first four chapters of this book cover the development of number systems, ancient mathematical methods, the transition to proofs, and axiomatic mathematics with a focus on Euclidean geometry. The final six chapters each track the history of a specific topic. These topics are number theory, algebra, early calculus, modern analysis, topology and combinatorics. It surveys math pretty broadly, but its focus is on the math topics that an undergraduate math major will encounter. The book contains many theorems with their historical proof. Each chapter also includes exercises.

I like this one for young kids and total beginners. Incidentally, this book was Ted K's security blanket when he was a kid.