The Emacs manual is available in many formats, including PDF:
The documentation within Emacs has such links though and the topics are slightly more discoverable because the documentation can be searched without knowing its prefixes for different sections ahead of time. I have to know that some commands are organized with i_<topic> to find some insert mode documentation for instance with Vim. They are consistent in their semantics though, but that is one gotcha for newcomers and something I did not realize initially. Without that merely doing :h <topic> won't return what the user is actually wanting the documentation for as topics shadow each other in their naming and are made distinct with the naming prefixes.