Blood on My Hands, Grief in My Heart is the title of a book on The Venture Bros. It appears to deal with trauma and guilt related to violence and death amongst costumed adventurers, soldiers, and their ilk.
As part of a scheme to rid Dr. Thaddeus "Rusty" Venture of all his EMA Level 10 arches, clearing the way for The Monarch to begin arching Dr. Venture again, The Monarch and Henchman 21 began dressing as the vigilante The Blue Morpho and his sidekick Kano. Henchman 21 inadvertently killed the Level 10 villain Haranguetan while dressed as Kano and began feeling intense guilt about it, exhibiting the telltale signs of P.T.S.D.
To cope with the experience, Henchman 21 began reading the book Blood on My Hands, Grief in My Heart. He attempted to tell The Monarch about it when he asserted that he wouldn't kill anymore, but The Monarch slapped the book out of 21's hands, calling on him to "stop with the P.T.S.D. nonsense!"
Later in the same episode Brock Samson and Rocco unofficially teamed up to find their respective charges, Hank Venture and Sirena Ong. They tracked them to Yumi, a ninja themed restaurant, where Rocco suggested they enter guns blazing but Brock shamefully admitted his handgun was unloaded. Rocco, a Delta Force veteran, said there was a guy like Brock in his unit in Afghanistan and suggested that Brock read Blood on My Hands, Grief in My Heart. Brock defensively cut off Rocco before he could finish saying the book's title, dismissively referring to him as "Jersey Shore".