Format with groff as postscript, send to printer:
zcat /usr/share/man/man1/ls.1.gz | groff -man -Tps | lpr -P hp1_floor2
or, of course, save it for later:
zcat /usr/share/man/man1/ls.1.gz | groff -man -Tps > top.ps
Source: http://www.cyberciti.biz/tips/how-do-i-print-out-a-linux-man-or-info-page.html