After bashing my head against my desk for at least an hour trying to print a UNIX "man" format manual page on a Windows printer, I finally found the solution. I am writing it here so, in 6 months when I go to do this again, I can remember how to do it! Also it seems like "convert man pages to plain text" finds only a painful few references on Google, even though you'd think this would be a common enough thing to want to do. Anyhow here's what you do:
% man <command> | col -bx > <filename>
Once you run this, just FTP the file you created to a Windows box and print like normal through a text editor like
Crimson Editor. It won't have the bold text or underlines or any of that crap, but who needs that anyway?
Incidentally, I finally found my solution (in a roundabout way) here, but that information was Linux-specific, and rather indirect. I've tested the above command on SecureOS and Sun Solaris, and I would imagine it would work on Mac OS as well. If you're on a Mac though you can probably just print the page directly.