Time to learn awk scripting
You may have a "gawk-doc" package available. It includes a 10 page AWK cheat sheet, and a book "GAWK: Effective Awk Programming".
If you obtain the source for the gawk package, you can use the documentation source to generate a PostScript or PDF or DVI version of the info source, which is also very good. Often there is a make target to do that automatically, with the documentation in the <packagedirectory>/doc/ directory.
You may have used:
sudo make install
to install a package. There often is another make target to generate the documentation:
will generate a pdf version of the documentation. There isn't always this target, and sometimes it is called PDF or pdfdoc. For some packages there is a "make html" target to generate browsable documentation.
Since, gawk is already installed, you don't need to perform the "sudo make install" step.
Also, if you want to print out the man pages for sed or awk, I would recommend doing it this way:
man -t sed | lpr
This will use the groff system to generate a print worthy version of the manpages.