I'm trying to find a way to get all the information in the API in one printable PDF,
complete with the examples given in the documentation.
Is there anyway I can do this?
Here is a Palemoon plugin which purports such an ability:
Print pages to PDF allows you to convert selected bookmarks (like a bookmarks folder or a list of bookmarks), open browser tabs or, if installed, ScrapBook (Plus) pages into one PDF document.
I've tried it myself, and it works quite well for offline purposes. I think the terms of service only allow the resulting document to be used for personal, non-commercial use.
Here's a screencap which demonstrates it's features: