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 Printing 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
See Learning how to do something, for how to view the manual from Emacs.