Probably the best way right now is to download the PDF version of the documentation you need. For 3.3.X - http://docs.jboss.org/richfaces/latest_3_3_X/en/devguide/pdf/
I do like the idea of providing a document bundle for download and we'll see if that is possible for the 3.3.3.Final release. We'll certainly have it for the 4.0 releases when they get out of ALPHA.
Your other option is to builds them following this wiki page - http://community.jboss.org/wiki/RichFaces33XDocsBuildDetails