Yes, it was amazing. The good news is that it was turned into a book, The Theoretical Minimum. The bad news is that the book was really disappointing. I'm more of a learn-by-reading than learn-by-watching person, but Susskind's lectures are amazing.
I don't think a book could ever compare to 20 hours of classroom video when you've got the chance to have such a great professor. The pace, repititions, emphasis, hands gesture, hesitations, pauses, are also helping you understand and digest the course ( as with every human communication). Frankly what Mr susskind has done with this stanford program is truely the work of a great man.