But, if you work in an network environment, this file may be overwritten when you login next time. Some commands or functions have many arguments. You can just enter them without any argument to get the usage. As they are in plain text format, you can easily manipulate them. I mean copy, edit or print them.
More information is available for some commands here.
But, the most complete source is, understandably, the huge volumes of documentation. But, text-sensitive interface does provide some nice features for you to be discovered. Some messages are very useful for me. The answer is yes but not that straightforward. It should print well.