Only the rules are print-friendly. The adventures use hyperlinks in the text to move you around the adventure pages, which of course won’t work in a printed context.
That said, if you did print it, it probably wouldn’t be too hard to figure out which link goes to which page - the links and page titles are usually kind of similar. But I still would recommend using the PDF’s to play them.
Once you start using the procedural missions, you can use only the printed rules.
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.
Lemme take a look and see if it's possible to do that without making everything spoiler-y somehow.
In the mean time, if you've already read the rules, for The Cetus Response, there is no branching, so you can play that one straight through in page order. That's just a linear playthrough of a mission, with no branching – it's a real example that I generated as I played through a mission to serve as an example of how to run the game with the mission generator. That adventure presumes that you already know how to play, though, which means you'll probably skip the Charon Wormhole story.
Okay, I've added a "Printed Page Reference" to the Charon Wormhole document page (it's free to download). Most pages just go to the next page in the document; the printed page reference lists the pages where it doesn't, both for brevity's sake and to minimize the amount of spoilers from page titles and link texts.
In addition, I should note that The Cetus Response is linear, so you can just go page-to-page in that one. It's linear because it's an example of playing the game through with the procedural mission generator – it provides a complete, real example I played through and it includes a lot of guidance, explanation, etc., to get you up and running with the mission generator from the book.
The above two adventures should get you ready to play the full game, which as I mentioned is fully playable from the printed book. The only thing missing would be a similar printed page reference for Charybdis Nebula, but that would be a much more convoluted and long reference document that might get tedious to work with at the table, so I'd recommend just jumping to the procedural generator after Charon Wormhole and Cetus Response if you really only want to play from printed materials.
Hope this helps!
