The book by Robert A. Adams has a 'ultimate' theorem about: trace theorem (resctricting to lower dimensions), extension theorem (extending to higher dimensions) and sobolev embedding.
It is Theorem 7.58. It is definitely more than you need here. It involves even fractional order Sobolev spaces.
The theorem is about Euclidean spaces. If you want a manifold version, we can always do it by hand. (Or just by waving your hand, especially when you are not really interested in controlling the constant.) Chop the manifold into pieces near the boundary and consider a coordinate system mapping a neighborhood to (a domain of ) half space, then use the partition of unity. The constant in your final inequality depends on a uniform bound of the coordinate system. Sorry, I can not be very precise here. However, the method works.
$M$
compact with smooth boundary, you can find this in Proposition 4.5 in volume I of the 3-volume monograph of M.E. Taylor on Partial Differential Equations. $\endgroup$