I really like how http://www.honorshaven.com/ looks printed (to pdf). I\'ve looked through the source to try to figure out how they did it (my navigation always turns into
You need to use a stylesheet designated for printing. To do this, set the media type to print instead of all or screen. In this separate stylesheet, you can hide your navigation menus, change your fonts, spacing, margins, etc. and it is specific to the print output.
Here's a great article on ListApart about CSS Print Stylesheets.