The source form of all the documentation is "Texinfo", which is based on TeX but is like HTML in many ways. You have several options for how to process and view the documentation.
The easiest and quickest way to view the documentation online is to look at the HTML translation of the manual, using your favorite Web browser.
The next easiest option is to look at the "info" files, ideally with Mac Emacs so as to get the hypertext abilities, but any other text viewer will do, as long as it can handle large (>32K) files. You can do the same with the manual sources, although they will be harder to read.
For printing, if you can find a preformatted version in PostScript(tm), and have a PostScript printer, then you can send that directly to the printer [using what?].
To make a nicely printed manual from the sources, you will need a version of TeX. There is a commercial program called TeXtures and a free version called OzTeX. [mention versions and locations]
Note that all the information in the manual is in a portable form, so if you have access to another computer system with a faster or easier-to-use formatting and printing setup, you can use that instead.
Also note that the full manual includes information about designing games and modifying Xconq sources.