I got this book when the author came to my elementary school in Maryland in the early 1990s. The book is about an emperor who has to decide which of his (twin?) sons will succeed him. He challenges them both to go recover each of the 5 elements and bring them back to him. The first rash son runs ahead and steals each element leaving angry people and wreaking havoc. The second son cleans up each of his brother’s messes and then is gifted the element. He uses that element to fix his brother’s destruction at the next stop (ex. using water to put out fire). The other notable feature of the book is the illustrations – the illustrator used intricate cutout silhouettes.
This description matches The Warrior and the Wise Man by David Wisniewski