There is a package out there called html2ps. Actually, there's a number of
2ps utils out there:

html2ps - HTML to PostScript converter
jpeg2ps - Convert JPEG compressed images to PostScript Level 2
dvi2ps - TeX DVI-driver for NTT jTeX, MulTeX and ASCII ptex.
abc2ps - Translates ABC music description files to PostScript
a2ps - GNU a2ps 'Anything to PostScript' converter and pretty-printer
c2ps - convert an ASCII file with C/C++ code to PostScript

Then just use ps2pdf from GNU Ghostscript and you're all set. From memory,
html2ps + ps2pdf makes a rather decent PDF file. HTML links become bookmarks
in Acrobat reader and other special things like that.
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