RtD does support options for downloading the user manual in three formats: PDF, HTML and Epub. Go to the
User Manual and in the lower left corner there is a white on black bar labelled "Read the Docs". Click the bar and you will see the three formats that can be downloaded.
However, as dellus mentioned, the layout has been focused on the online version and the layout for the three download versions don't work well, especially the PDF and Epub. Those formats are unusable. For now, downloading and printing the HTML version seems to provide the best option. It will print as a single document.
Keep in mind as well that this version of tha manual is based on v2.2.0rc1 and it is not complete. Close, but there are still a few more things that need my attention. The first couple of sections and the Appendices are for the most part are done while the User Guides are work in progress...