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I looked at lulu for printing Scott Alexander's Unsong. Their terms of service declaim [0] anyone looking to print content that they do not have copyright or a license for. That's the entire point of copyright.

I recommend that you contact beej directly.

[0] https://www.lulu.com/terms-and-conditions section 3 paragraph 3

Most local printing places (places that do business cards, flyers, and the like) will gladly supply a quote for a single printed and bound PDF. Last time I did this only had to send the PDF for a complex flight sim. Shop local!

I had a college course use Lulu to print the notes into a textbook. The quality was good for a paperback. I think you're limited to black and white though. The formatting of the TeX notes could have been better, but that's probably on the professor to have fixed.