Unfortunately, no one book is going to get to a full breadth across humanity. There are some books such as the Handbook of Historical Studies in Education and Oxford Education Handbook that, together, can provide a pretty good sense of the global experience.

Once you start diving into particular eras, you'll want to focus on a particular region of the world. It's critical, though, to spend some time on the roots of what you're reading about - which also means attending to current historiography. Which is to say, books written prior to the establishment of women's history means typically overlook the women doing the daily work of teaching and focus on the men making decisions. Likewise, general education histories are more likely to overlook the education of historically marginalized groups such as children with disabilities, Indigenous children, queer or trans children, children from minority religious groups, etc.

Finally, my profile is here and I have a few American-centric book recommendations at the end that you mind find useful!