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Aaron Shepard's books give a pretty good overview of how to publish on amazon.

Createspace is pretty easy to use. If you already have a pdf you sell online, you just have to format it for print, and put a cover on it. I found a designer on elance to help me with both.

Start with the eBook and see how that goes: they're really cheap to produce. If it's going decently, reinvest some of the profits into making a print on demand book. Print and eBooks are very different, so what you invest in one won't translate to the other.

Last time I looked LeanPub had an option to produce a print-ready PDF that you could then throw at something like Lulu. Info is somewhere in the author FAQ.

(Note: not done it myself - so don't know how well it works.)