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You can order a printed copy of the Emacs manual from the FSF. For details see the FSF on-line store.
The full Texinfo source for the manual also comes in the doc/emacs directory of the Emacs distribution, if you’re daring enough to try to print out this several-hundred-page manual yourself (see How do I print a Texinfo file?).
If you absolutely have to print your own copy, and you don’t have TeX, you can get a PostScript or PDF (or HTML) version from
https://www.gnu.org/software/emacs/manual/
See How do I find out how to do something in Emacs?, for how to view the manual from Emacs.