The answer is yes: if you write $\pi^{-1}(A)=AH=HA$ (since the subgroup $H$ is normal in $G$), then you realize that for any element $gH=Hg\in G/H$ you have $$gH.A=gH.AH=g.HA=g.\pi^{-1}(A).$$
Since the measure $\mu$ is invariant under the multiplication by $g$, so is the pushforward measure: $$ \
u(gH.A)=\mu(\pi^{-1}(gH.A))=\mu(gHA)=\mu(AH)=\mu(\pi^{-1}(A))=\
u(A). $$
Moreover the pushforward measure is clearly non-trivial ($\
u(G/H)=\mu(G)\
eq 0$), and Radon: **(EDIT)** by the definition of the quotient topology, the compact subsets of $G/H$ are of the form $\pi(K)=KH$, with $K\subset G$ compact. This implies that the measure $\
u=\pi_*\mu$ is inner regular.
Concerning the reference that you are asking, I really love the book by Halmos on Measure Theory. Another place where I've first learned about integration on locally compact groups is the appendices of the book by Bekka, de la Harpe & Valette about Kazhdan's property (T) (it is freely available online).