I dunno anything in any books, but it seems to me that good RP mixed with some Diplomacy, Bluff, Sense Motive, and Appraise checks here and there could do haggling fairly well. At least, that's what I get my PCs to do, and they enjoy it.
The most fun is when they lie about an object and don't actually mention to use Bluff. That's when they hear me roll behind the screen(otherwise I let them roll on their own in the open) and up the pressure some.