Checked out the cookbooks at the library yesterday, looking for a book with a title along the lines of the title of this post. Didn't find any. Seems every book at the library is about making cooking easy.
I don't expect cheap, healthy cooking to be easy. There's an expression in marketing--you can have it fast, cheap or good. Pick any two. I know that's going to be true for cooking as well--you can have it fast, cheap or good-for-your, pick any two.
If you want to eat cheap and healthy, I'm sure it means soaking beans overnight and marinating cheap cuts of beef for hours.
Although I don't know yet, because I still haven't found the book.
I'll let you know when I find it.