You might try PDF-Create-0.01 (alt.) or one of the other modules returned by this search (alt). There's a tutorial here. (Note that you'll want to review the tutorial's Perl code pretty carefully; it doesn't use strict, -w, or taint mode.)
Alternatively, if you're willing to target IE, you can create a printer-friendly version of your document using:
<link rel=alternate media=print href="printme.html">
Here's one discussion; there are many others online. (Personally, I don't like using this because of the cross-browser problems. YMMV.)
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