That depends on what you mean by a 'modern SICP book', if you mean a newer book for learning Computer Science (CS), then of course there are many. 'How to Design Programs (HtDP)' would be an example.
If you mean 'SICP but in a language that's more popular nowadays', there's SICP in JavaScript.
If you mean a newer book which teaches CS in Scheme, I don't really know. HtDP uses Racket, which is a spin-off of Scheme, but outside of that I'm not really aware of any books which could be called 'modern'. There's Concrete Abstractions, which I would call 'SICP-lite' as it's a fair bit lighter on the maths, so that would be my first go-to if the maths are a bit intimidating.
If you mean 'SICP but in a language that's more popular nowadays', there's SICP in JavaScript.
If you mean a newer book which teaches CS in Scheme, I don't really know. HtDP uses Racket, which is a spin-off of Scheme, but outside of that I'm not really aware of any books which could be called 'modern'. There's Concrete Abstractions, which I would call 'SICP-lite' as it's a fair bit lighter on the maths, so that would be my first go-to if the maths are a bit intimidating.