Just select your WordPress content and create a PDF.
DK PDF Generator is a premium add-on for the DK PDF plugin (free). It lets you choose pages and posts (including custom post types) in order to create a PDF file from them. You can also add a cover and table of contents (with interactive links) to your PDF file.
There are options for creating a Header and Footer as well as settings for orientation, margins and more. Click the Buy / Learn More button to see an example of a PDF created with DK PDF Generator.