`pr` is part of the POSIX standard, so of course it still hangs around! Can't remove a thing like that! I don't think `troff` is part of POSIX, but since it used to be (still is?) the standard tool for typesetting man pages, it's not so surprising it's still around.
Man pages are typeset with nroff to the console and troff to the printer. Yes, you can print manpages, and they turn out quite nice: try "man -t bash > bash.ps" to produce a postscript file which can be printed or converted to PDF etc.