Yes, I really wish Firefox added this feature! As far as I know, they even have this in the Android version of Firefox.
Anyway, if your operating system comes with a PDF printer or if you installed one manually, you can use the normal printing feature that every browser has.
What are you on that Firefox doesn't have a built-in print-to PDF? On GNU/Linux, I've got a "Print to File" printer that lets me select between PDF and Postscript, even though I don't have cups-pdf installed.
Thanks! That "Print to File" is provided by the operating system, not Firefox. I'm on Windows 7, where the operating system doesn't provide this. Yet Chrome provides it itself.
I used to use it as a CUPS feature, but as I said: I don't have cups-pdf installed, and indeed, I don't have CUPS installed at all. Perhaps it is being provided by some system library (perhaps libcups), but not by CUPS itself.
Anyway, if your operating system comes with a PDF printer or if you installed one manually, you can use the normal printing feature that every browser has.