The game comes with a link to a print-on-demand service where you can order a printed version of the rules to use at your table. The rules document itself is also print-friendly (although it is in color, so depending on what you deem "print-friendly" that may not qualify).
The only parts that are not print-friendly are the duty sector documents, but those use hyperlinks to get you from page to page as you go through the adventure, so it's not really something that makes sense to be printed. But you don't need those books to play the game; you can play everything from the rules document using the mission generator. I'd still recommend going through at least The Cetus Response if you want to go that route, since it leads you through a full example of a mission and provides guided commentary on how to use the system. But you can play the game entirely with printed materials (I often do!).
If you have any specific questions about playing with printed components, feel free to ask.