The
readthedocs.org documentation is written in Sphinx markdown (a.k.a ReST, I think), isn't it? There's tools to make PDFs from that, like rst2pdf.
There tend to be problems with translating tables, but then, the HTML for tables isn't flawless. The table of standard cells under "SkyWater Foundry Provided Standard Cell Libraries" spills off the right-hand side of my browser on the
skywater-pdk.readthedocs.io page.