I also hate the new HTML help.
However, I have found a way to get the documentation converted over to PDFs. So far I have only done this with the Subassembly Reference, but it looks like it would work with the others as well. Here's what I did:
1) Make a copy of the C:\Program Files\Autodesk\AutoCAD Civil 3D 2012\Help directory ***IMPORTANT so you don't mess up the originals***
2) Find the folder with the guide you want to print. (Look in the address bar of your browser) In the case of the Subassembly Reference, the folder is "filesCSH"
3) The files are named GUID-<gibberish>-NUMBER.htm - those numbers tacked onto the end are in order of the documents. To get the files in order, you need to remove the first part, and make the files named just NUMBER.htm. (I padded the 1 and 2-digit numbers with zeros to help with sorting) I did this with a bash shell script, but could also be done more user-friendly with a batch-rename program such as Better File Rename.
4) Once renamed, you can convert these to PDF or easily batch print them in order. Acrobat Professional works well for this as you can batch convert & combine the HTML files into a single PDF in one operation.
5) If you want, you can edit the style/acad_html.css and style/acad_acr.html.css files and adjust the margins to better fit the page. Search for "220px", these are the values you want to change. I found 50px worked well for the Subassembly Reference.
I would be happy to convert the other major documentation (User's Guide, Tutorials, etc) and provide these PDFs publicly if I could get the OK from Autodesk somehow.
As a side note, some of the help files look a bit more involved. For instance the AutoCAD User's Guide has a different naming format, the names are not all the same length, and the numbers on the end are in hex. I haven't dug into these much, but at first glance they don't look to be quite in order after renaming.
