Matthew 16-23: The MacArthur New Testament Commentary
MacArthur provides thorough Scriptural commentary throughout this book.
MacArthur's commentaries are mainly expository. Meaning, he takes scripture and explains it with other scripture. His expository style, however, is easy to read and understand. He does digress into other scripture or theological topics at times, but I believe he does this so anyone reading this commentary would be able to understand the other scriptural passages that he references.
I would highly recommend The MacArthur New Testament Commentary Series to anyone looking for an in-depth Biblical explanation of Scripture.