I have used Cafe Press to publish a cookbook from PDF (for a local charitable organization). For what you are doing, Cafe Press may be too much trouble because you have to set up a listing to offer the book for sale on their website.
It may be easier for you to do it as a one-time job at a local office services provider like Staples, OfficeMax, Office Depot, etc., where they just print, bind, and call you when it's ready.
Beware if they require a paper print as the source for duplication. That results in a lower quality print. With modern equipment, they should be able to print directly from the PDF, just like your home printer. This should render a very high quality print.