Personally, I find the "classical" books (Borel, Humphreys, Springer) unpleasant to read because they work in the wrong category, namely, that of reduced algebraic group schemes rather than all algebraic group schemes. In that category, the isomorphism theorems in group theory fail, so you never know what is true. For example, the map $H/Hcap Nrightarrow HN/N$ needn't be an isomorphism (take $G=GL_{p}$, $H=SL_{p}$, $N=mathbb{G}_{m}$ embedded diagonally). Moreover, since the terminology they use goes back to Weil's Foundations, there are strange statements like "the kernel of a homomorphism of algebraic groups defined over $k$ need not be defined over $k$". Also I don't agree with Brian that if you don't know descent theory, EGA, etc. then you don't "know scheme theory well enough to be asking for a scheme-theoretic treatment'.
Which explains why I've been working on a book whose goal is to allow people to learn the theory of algebraic group schemes (including the structure of reductive algebraic group schemes) without first reading the classical books and with only the minimum of prerequisites (for what's currently available, see my website under course notes). In a sense, my aim is to complete what Waterhouse started with his book.
So my answer to the question is, no, there is no such book, but I'm working on it....
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