Vogel’s book is available as free E-Book through Rensselaer library. The book can be purchased, printed or as an e-book, from Princeton University Press, which also provides the first chapter as a free download: http://press.princeton.edu/titles/9752.html
See Vogel’s own description of the book:
https://www.law.upenn.edu/blogs/regblog/2012/05/14-vogel-precaution.html
And an announcement of the award it received:
http://www.eurekalert.org/pub_releases/2012-08/uoc--bpd082412.php