In the page set up manager - I have model space set to print AcadE to PDF for each drawing - usually on ISO Full bleed A3.
I then use publish project to DWF and when the dialogue box opens change it to pdf.
In the options I then set multi page so that it creates one pdf with all drawings.
It works for me - but there could be an easier way.
have a look at this weblink which shows how to publish one ore more project drawings in a single pdf file.
Hope this helps you on the right track!