But two of the biggest rivals of Altap Salamander have excellent manuals for printing: Directory Opus and xplorer2. Having said that the biggest doesn't have either: Total Commander.
There are some tools which can convert the chm to pdf. Just google for chm2pdf and you'll get some to see. Since it's that easy I would expecting the developers to actually do this. The advantage of a pdf manual is that it is easily printable and not the format itself in electronic form. I like to ...