From version 3.6 Helpinator allows you to create “Printed Manuals”. They are much like “PDF” mode but Helpinator sends them directly to printer, with “Preview” phase of course. To create printed manual click “Printed Manual” icon on the main app toolbar.
Helpinator then will prompt you to select printer and will render “Preview”.
You can browse pages, check everything’s fine and when you are satisfied click "Send to Printer" to print it.