dokytree/samples/doc_v1/doc/usage/_index.01.md

node app.js [args] docfile.yaml
-p | --port     Set listen port (default : 3000)
-b | --bind     Set listen ip (default : 127.0.0.1)

This command start the documentation server.
You can use it to view your changes.
Then you can click on book link and print your doc as pdf.

Additional tools

VSCode - Editor for your documentation.
Chromium or derived browser - To print PDF with converted link.
Draw.io - Editor for schemas.