Ayn Rand gave us that vision of an unobstructed, voluntary society, back in 1957. Atlas Shrugged is the reason many of us were attracted to libertarianism before the word "libertarian" was even invented. She gave us a vision of a society with minimal government, and even more importantly, she provided a philosophical justification for liberty as a social good rather than a selfish sin. The book keeps winning new converts, year after year.
Another excellent libertarian vision of an anarcho-capitalist future can be found in L. Neil Schulman's young adult novel, Alongside Night.
The books are there. But the people do not read.
Recommended reading: The Most Dangerous Superstition, http://www.amazon.com/Most-Dangerous-Superstition-Larken-Ros...