Does anyone know of any books that contain biographies of sitcom supporting players like Parley Baer, Hal Smith, Joanna Moore, Janet Waldo etc...?

Fred Stoller, who was Cousin Gerard on Everybody Loves Raymond, wrote a book called, Maybe We'll Have You Back: The Life of a Perennial TV Guest Star (2013).

I liked that book!

I like Fred Stoller's book too. There's a book by Robert Pegg called Comical Co-stars of Television, but it's usually kinda expensive. You can search under Google books to read some sample pages.