Almost any Kim Stanley Robinson novel. In Pacific Edge he explicitly mentions he doesn’t want to write about utopia, he wants to describe the path, the struggle.
Also, “Another Now” by Yanis Varoufakis is very explicit in a path to a better future.
Recent works by Robinson seem very pessimistic, perhaps even misanthropic.
EDIT: Going to correct myself here for being harsh. I'm just remembering 2015's "Aurora" as being particularly annoying. Some of his other recent work has a pro-human message (e.g. NY2140)
Also, “Another Now” by Yanis Varoufakis is very explicit in a path to a better future.