I've created a new plugin that allows exporting WordPress contents to a PDF file at the push of a button. It is also possible to customize the PDF output according to own needs and taste. The PDF rendering is done by DOMPDF and the R&OS class, so my work was mainly the the WordPress integration.
Apart from the plugin, there also is a demo theme and a detailed Howto, which should make integration into own templates as easy as possible.
Please try it and tell me what you think.