I understand the importance of having physical copies of materials like the altar server handbook. If you've obtained the PDF legally—whether through your parish or an official source—printing it for personal use is generally acceptable. Many churches actually encourage this, as it helps servers practice at home.
However, it's crucial to respect copyright laws. If the handbook is marked as copyrighted or has distribution restrictions, you should check with your priest or the publisher before printing multiple copies. Some dioceses provide these handbooks freely, while others may require permission. I always recommend supporting official publications when possible, as it ensures the materials are up-to-date with liturgical guidelines.
From personal experience, having a printed copy is incredibly helpful for studying procedures outside of service times. I've seen many young servers benefit from being able to highlight and annotate their handbooks. Just remember to treat the printed material with the same reverence you would any liturgical text.