Begin your search by browsing these PDF links. If a PDF is unavailable through the US Census Bureau, check the individual census box and the Other Censuses page for other digital versions and/or print copies held by the UCLA library. For Census Schedules, use the National Archives.
The first census was taken in 1790 in the original 13 states, the districts of Kentucky, Maine, and Vermont, and the Southwest Territory (Tennessee).
A number of significant changes occurred in the 1850 Census. This is the first census to include California, additional "social statistics" (information about taxes, schools, crime, wages, etc), and use of a person (rather than household) as the basic unit of enumeration.
The 1890 census was the first to use punchcards and electrical tabulation.
All of these are printed books.