Hi @yanokwa,
It is possible to produce a pdf from most web pages in Mozilla Firefox. While the web page is opened, click File/Ok wait for the pdf to be prepared then, in the windows browser that opens, give it a name and choose the folder to save it.
I have attached what you'll get from http://xlsform.org/. What is an XLSForm_DirectPrintFromWebsite.pdf (645.4 KB).
As you can see the web links aren't functional and there's no active table of contents.
Wikipedia has an article on exporting articles as pdf files at https://www.mediawiki.org/wiki/Reading/Web/PDF_Functionality. Perhaps you can find there some clues about your pertinent question.