The quick answer is using: man -k and ps2pdf. i.e., to export "man lsof" into a PDF file for printing, just run:

This command will generate lsof.pdf under the current directory. wrap this method into a bash function:

pdfman()
{
    man -t ${1?Usage: $0 command} | ps2pdf - $1.pdf
}

then printing any Linux man page is just easy, i.e. for lsof, type:

padman lsof

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