Unfortunately there isn't. We really only get requests for an offline version of the documentation about every 6 months (which is rare in the scheme of things). The PDF builder built into Joomla is pretty poor and came out with some hideous results for formatting and images, which rules that out. Beyond that, we change our documentation frequently based on changes in Facebook, Autotune, or JFBConnect with new releases, so generating a PDF from our documentation would be pretty time consuming and means something that's downloaded would get out of date sooner rather than later.
The best I can recommend is
viewing the Full Configuration Guide
and printing it out (or saving to PDF on your computer using something like pdf995. The full view strips out a lot of extra stuff and is formatted decently.
We're in the process of overhauling our design, and adding in a good Print view is one of the goals as well.
Hope that helps,
Alex
pdf Documentation / Configuration Guide
