They are in PDF format and can be printed after downloading.
The documents are to be used specifically with the corresponding Tutorial Pack and may not be republished in any way or form without first obtaining permission from Gaijin-Eyes, Japan

Download links to PDF documents describing the contents of the various Tutorials can now be accessed from the PDF button at the top right of each Tutorial's description.
NB. At the present time not all Tutorials have a PDF file available ( This is indicated by "PDF n/a")