A monochromatic plane wave in $z$-direction has the fields
$$\begin{align}
\mathbf{E}&=E_0\cos(kz-\omega t+\delta)\ \hat{\mathbf{x}} \\
\mathbf{B}&=\frac{1}{c}E_0\cos(kz-\omega t+\delta)\ \hat{\mathbf{y}}
\end{align}$$
I guess you find these a few pages earlier in your book.
Or you can check that these fields actually satisfy all Maxwell's equations.
Plugging these fields $\mathbf{E}$ and $\mathbf{B}$
into the definition of the Poynting vector $\mathbf{S}$ (9.56) you get
(also using $\hat{\mathbf{x}}\times\hat{\mathbf{y}}=\hat{\mathbf{z}}$ and
$\frac{1}{c\mu_0}=c\epsilon_0$)
$$\begin{align}
\mathbf{S} &= \frac{1}{\mu_0}\mathbf{E}\times\mathbf{B} \\
&= \frac{1}{\mu_0} E_0\cos(kz-\omega t+\delta)\ \hat{\mathbf{x}}
\times \frac{1}{c}E_0\cos(kz-\omega t+\delta)\ \hat{\mathbf{y}} \\
&= c\epsilon_0 E_0^2 \cos^2(kz-\omega t+\delta)\ \hat{\mathbf{z}}
\end{align}$$
Here you recognize the term $\epsilon_0 E_0^2 \cos^2(kz-\omega t+\delta)$
as the energy density $u$ from (9.55).
So you finally get
$$\mathbf{S} = c u \ \hat{\mathbf{z}}$$