Not directly. If you use something like Sonic's eDVD, then you can put the PDF file on the DVD and set things up so that a adobe reader would get launched (assuming it was installed on the PC - which you could include the acrobat reader install kit on the DVD as well) and then they could print from within acrobat reader.
Of course this assumes that the DVD is being viewed in a PC using the Interactual Player that comes with eDVD.
Small clarification - You'll need to use something in addition to DVDA to develop such a DVD, not instead of.
The DVD will still need to be authored - you'll create your menus, ad your content etc. in DVDA then you prepare the project (but don't burn). Then use eDVD to create the extra content linkages and either use the eDVD burning software or something like Nero or CopyToDVD to do the actual DVD burn.
I've used it. The biggest con is that it went from $600 to $200 a few days after I bought it; Sonic now has a new version out, but doesn't seem to offer an upgrade path from the version before (which is the one I have) to the current version, which has some additional features that would be nice to have.
You do need to give a little thought to how you're going to trigger the extra content, since the triggers are based on specific items being played or on chapter marks.
There's a couple of other folks that frequent this forum who have also used it.
I''ve not seen anything else comparable - I think they just weren't selling enough.
They have a 30 day free trial, you might want to download it and play with it.
Basically it's driven off of chapters, so what you have is a menu with links to various clips - in those clips you have chapter marks (and of course there an implied chapter at the beginning of the clip). When you load the prepared DVD project into eDVD it finds the clips and chapter marks and lets you associate certain actions with the chapter marks - you can launch a web page, open a JPEG or a PDF or what have you. With the newest version the web page can be right on the DVD.
The key thing is that the DVD must be played with the Interactual Player - eDVD creates some XML files which contain the triggers used by the player - the player reads the XML files and then when it sees a particular clip and chapter start to play, it knows the appropriate action to take.