It is known that for an element $U$ of the group, in matrix sence:
$$
Ad_Ux=UxU^{-1}.\,\,(1)
$$
Now, we note that the target space of the adjoint rep is spanned by $N^2-1$ traceless matrices $t_a$. So, if we add the unity matrix, we get a full basis in $\mathrm{Mat}_N(\mathbb{C})$. We now note that that the adjoint action is trivially extended to this space, so I can write:
$$
Tr_{su(N)}(Ad_U)=Tr_{\mathrm{Mat}_N(\mathbb{C})}(Ad_U)-1,
$$
where $su(N)$ is the space of traceless hermitian matirices. It is true since the identity matrix is taken to identity for this operator. Now, using (1), we see that
$$
Tr_{\mathrm{Mat}_N(\mathbb{C})}(Ad_U)=Tr(U)Tr(U^{-1}),
$$
finally arriving at
$$
Tr (Ad_U)=Tr(U)Tr(U^{-1})-1.
$$
For example, take $U=I$, and then trace on the left is $N^2-1$ the dimension of the adjoint rep, while traces on the right are $N$ the dimension of the fundamental rep.
I guess this formula is well-known.
It is of great use here, because it relates the traces of your kind to the traces in fundamental representation, which are easily computed by the argument Joshua provides.
Take $U=\prod_i \exp(t^a\alpha_a^i)$, for $\alpha_a^i$ an arbitrary set of numbers ($i=1..3$, for example). Then $Ad_U=\prod_i \exp(ad(t^a)\alpha_a^i)$. Now I expand our formula in powers of $\alpha$, and I want to examine the $\alpha_{a}^1\alpha_{b}^2\alpha_{c}^3$ term ($\alpha^i=t^a\alpha^i_a)$:
$$
Tr(ad(\alpha^1)ad(\alpha^2)ad(\alpha^3))=Tr(\alpha^1\alpha^2\alpha^3)Tr(I)-Tr(I)Tr(\alpha^3\alpha^2\alpha^1).
$$
Now, $Tr(t^at^bt^c)$ is trivially (by the formula for the product $t_at_b$) equal to $\frac{1}{4}\left(d^{abc}+if^{abc}\right)$, while $Tr (I)=N$. So finally we get (in your notation):
$$
Tr(t^a_G t^b_G t^c_G)=\frac{N}{2}if^{abc}.
$$
You can compare it with your book. Yes, I know that it is not what you wanted, but in this way (and following Joshua answer for the traces in fundamental rep) you can get any desired trace. Since you have the homework tag, I leave the case of four generators as an exercise.
Update:
The fact that $$Tr_{f}(U)Tr_{\bar{f}}(U)=Tr_{ad}(U)+1$$, where $Tr_R$ is the trace in representation $R$, $ad$ is the adjoin rep, $f$ is the fundamental rep and $\bar{f}$ is the fundamental rep where all matrices are taken to transposes of their inverses (dual rep, in this case the same as the conjugate rep), is a direct consequence of the fact:
$$
f\otimes\bar{f}\simeq ad\oplus 1
$$,
where $1$ is the trivial one-dimensional representation, $Tr_1(U)=1$. This is because trace is additive under $\oplus$ and multiplicative under $\otimes$. For example, for $SU(3)$ this reads $\mathbf{3}\otimes\mathbf{\bar{3}}=\mathbf{8}\oplus\mathbf{1}$. You can get other idenities from, say $\mathbf{3}\otimes\mathbf{3}=\mathbf{6}\oplus\mathbf{\bar{3}}$, for other representations. This is somehow related to the theory of characters.