One of his earliest collection of essays, Naked covers much of Sedaris' formative years, including stories of his nervous ticks such as banging his head on things and licking cigarette butts, to his adventures in hitchhiking. The collection's title comes from an essay of the same name as Sedaris explores a nudist camp and muses on the particular personalities of those who choose to live such a free lifestyle.
Hilarious and charming, Sedaris has always had a knack for inserting a profound life lesson in a humorous situation. At times, the stories are awkward and slightly uncomfortable to read, not because the writing lacks refinement, but because it is easy to relate to the underlying message he shares - people and our families are weird, but they have a lot to offer.
With a voice made for radio (Sedaris has been a contributor to NRP broadcasts for years), Sedaris' stories are well worth listening to as well as reading. Thus, you may try his audiobooks Live For Your Listening Pleasure or The Ultimate David Sedaris Box Set. For humor and heart in a similar vein, you may also try the memoir style novel How Should a Person Be by Sheila Heti.