If you want to print a man page, it’s this simple:
man ls | col -b | lp
If you just want to instead save the man page to a file, so you could email it or post it to a web site, just leave out the trailing
| lp, as in
man ls | col -b > ls-man.txt
This will save the man page for the ls command without any formatting, to a file named ls-man.txt.