As noted by Reid Barton in comments, the Homotopy Type Theory book is probably the closest to what you ask for. It introduces its dependent type theory (which is essentially CIC plus extra assumptions of univalence and, later in the book, higher inductive types) from the ground up. In §10 it introduces a type $V$ representing the cumulative hierarchy, as a higher inductive type, and in Thm 10.5.11, it shows that under the assumption of AC in the ambient type theory, $V$ models ZFC. (They don’t explicitly say so, but the proof also easily shows: under the assumption of LEM, $V$ models ZF.)
This may not quite fit your bill, for a couple of reasons. Firstly, it’s not exactly a generic introduction to CIC, since its approach to working in type theory is deeply infused with the homotopical viewpoint; compared to how one works in non-homotopical type theory, a lot is the same, but some things are necessarily different. Secondly, its construction of the cumulative hierarchy makes use of HIT’s and univalence, which you may not want to assume.
This latter gap is bridged in Håkon Gylterud’s paper From multisets to sets in homotopy type theory, which gives a construction of $V$ without using HIT’s, and then shows that it satisfies the universal property of the HoTT book’s $V$. It follows that the theorem above holds: assuming AC, Gylterud’s $V$ models ZFC. Gylterud’s results on $V$ use univalence at just one point, to show that $V$ is a set — but in fact that doesn’t require full univalence. All that’s needed is the weaker property that $(a =_U b) \to (a \simeq b)$ is always an embedding (this doesn’t have a well-established name; I call it subunivalence) — this is a consequence of univalence, but also of UIP, so holds in both “fully homotopical” and “fully set-based” models.
Gylterud’s $V$ is also closely related to the oldest and most well-studied interpretation of set theory into type theory, Aczel’s $W$ — Gylterud’s papers give good references on that, and discussion of the connections.