One typically wouldn’t take notes from a Spanish, French, or Latin textbook would they? Like most languages, mathematics should be read and written to practice it (and maybe even spoken).
Knowing math or physics is best demonstrated by actually doing problems – and the majority of the time, this is what is going to be on the test too, so just pick up a pencil or pen and start working out the answers.
These subjects aren’t like history, philosophy, or psychology with multiple choice or essay type questions that might benefit from note-taking, so just jump right in. Give the book a short read and start plugging away at problems.
If you have problems getting started, take a look at some of the examples provided by the author (or in other books), cover up the answer, and try to recreate the solution.