I found perl's libwww-perl (the LWP), and it's got a module called HTML::FormatPS for rendering HTML to postscript. When I get time I'll play with it, but I just started a new job so that'll have to wait :/. Anyone used it and know how well it works (or if it does)?
Looks like HTML::FormatPS is going to be a little to basic, not surprisingly :/. It does work, and work well on basic HTML, but it doesn't handle image tags (can't say I blame it :) ). I will persevere though.