At the moment, I'm reading through the Red Dwarf novels. The first two books are essentially expanded versions of series 1 and 2 episodes grouped together in one big story.
Even though there is obviously a big similarity to the television show with the same jokes in places, they're still very funny and the extra bits make it worth reading. For example, the first book has a back story of how Lister ended up on Red Dwarf and met Rimmer.
Books 3 and 4 should be interesting (just started 3) as this is when Rob Grant and Doug Naylor (creators of Red Dwarf) had a massive falling out and went their separate ways.
So each book is written by each creator and does their own thing. I've just started Backwards by Grant which directly follows on from book 2.