Convert WordPress pages to PDF

Just like I customize the CSS print for a page, I want to be able to convert the page to PDF.

Many plugins I tried just display main content of the page or post without design; just plain text. I want to be able convert the page to PDF as it is.

Is there a way to do this even without a plugin?

WP-MPDF has always worked extremely well for me and has a decent templating system you can override. Thanks!