The musescore.org website offers a printable friendly version of the handbook for each language. For english, it's here https://musescore.org/en/print/book/export/html/36546?pdf
It also provide a cover page https://musescore.org/en/handbook-cover
The project https://github.com/musescore/handbook2PDF runs every day on Travis-CI, downloads handbook and cover page for each language and uses https://wkhtmltopdf.org/ to create a PDF. The PDF is then uploaded to the musescore-nightlies share of the OSUOSL FTP.
The TOC for the PDF is generated with this XSL file https://github.com/musescore/handbook2PDF/blob/master/custom.xslt
The whole generation process is open source, feel free to contribute improvements.