I looked up Elizabeth's tutor on the interwebs. He published a
book on tutoring:
Not a general treatise on educational method, the book concentrates on the teaching of Latin; and it was not intended for schools, but "specially prepared for the private brynging up of youth in gentlemen and noblemens houses.” It advocated "the double translation of a model book", the book recommended being Sturmius's Select Letters of Cicero;
The full text of his book is available from
Archive.org.
EDIT
The collection of Cicero's texts, chosen for children, mentioned in the book refers to
Johannes Sturm. The
german version of his wikipedia page lists his published works.
Cicero's De Officiis seems to have been a popular choice too.
EDIT2
Some of the latin in the book is translated on
another thread.