Does Thoreau feel that students education should consist solely of learning book and class lectures
Absolutely not! Thoreau of all people thinks that new information should be internalized through experience.
The experiment of Walden is his first great example of this. He wanted to "live deeply and suck all the marrow out of life" right? In order to do this, he felt it necessary to separate himself from the distractions of society so he could do that in a simple and secluded format. He returned to the basics of life and learned through experience, not a book or teacher's perspective.
Another example derived from the text of Walden would be when he surveys a field, considers it wondering about all that he could do with it and lets his imagination take him where it will. He couldn't do that the same way as if he was looking at a picture or words in a book.
Thoreau's perspective would be almost the opposite of your question, although I would agree that he would consider both books and teachers helpful, they are not in any way life's sole teachers.