Here's my idea:
Split the manual into multiple documents by chapter/section, and save each
of them to a document library. This library should have a custom field
defined for "Section" or "Chapter" that you populate when you save every
document. You can then create views for the library that will have
individual displays of the documents filtered by the Section/Chapter field
contents (i.e. show only documents where Chapter = Chapter 1, which would be
just one document). This way uses the view list in document libraries as a
table of contents.
You could also populate a Content Editor Web Part with an HTML/Rich Text TOC
that have links to the individual documents so that you can display your TOC
outside of the document library, perhaps on the home page of the Windows
SharePoint Services site or Topic/Area that is hosting the document library.
Unfortunately, this will not give you the ability to print out the entire
manual, but you could also have a copy of the entire manual saved as one
document for this purpose.