There are a number of excellent commentaries covering the entire text.
Based on teachings His Holiness gave in Dordogne, France in 1991, For the Benefit of All Beings, translated by the Padmakara Translation Group, gives an overview and commentary on each chapter of the text, distilling the key messages on the benefits of bodhichitta, offering and purification, carefulness, attentiveness, patience, endeavor, concentration, wisdom, and dedication. His Holiness said,
"I received the transmission of the Bodhicharyavatara from Tenzin Gyaltsen, the Kunu Rinpoche, who received it himself from a disciple of Dza Patrul Rinpoche, now regarded as one of the principal spiritual heirs of this teaching. It is said that when Patrul Rinpoche explained this text, auspicious signs would occur, such as the blossoming of yellow flowers, remarkable for the great number of their petals. I feel very fortunate that I am in turn able to give a commentary on this great classic of Buddhist literature."
This is available as a paperback, MP3 audio download (read by Wulstan Fletcher of the Padmakara Translation Group), and eBook.
In No Time to Lose: A Timely Guide to the Way of the Bodhisattva, Ani Pema Chödrön talks about her relationship with the text and said it was not always easy:
"Some people fall in love with The Way of the Bodhisattva the first time they read it, but I wasn't one of them. Truthfully, without my admiration for Patrul Rinpoche, I wouldn't have pursued it. Yet once I actually started grappling with its content, the text shook me out of a deep-seated complacency, and I came to appreciate the urgency and relevance of these teachings. With Shantideva's guidance, I realized that ordinary people like us can make a difference in a world desperately in need of help."
This is available as a paperback and for the eBook (see Additional Formats), a CD set, and an MP3 download.
Pema Chödrön's teachings on this text are also available in the form of Giving Our Best: A Retreat with Pema Chödrön on Practicing the Way of the Bodhisattva. This is a rare and wonderful presentation from a live teaching that brings the teachings into real life, present-day situations.
This is available as video via a DVD or streaming video and as audio via a CD set or MP3 download.
The most in-depth commentary in English comes from the great Nyingma master Khenpo Ngawang Pelzang, aka Khenpo Ngakchung. Entitled The Nectar of Manjushri's Speech: A Detailed Commentary on Shantideva's Way of the Bodhisattva, this has been described as the commentary that Patrul Rinpoche so often gave by word of mouth but never actually wrote. This explains why Khenpo Kunpel's text has attained such popularity among Tibetans.
This is available as a paperback and an eBook (see Additional Formats).