It's possible to export the maps and other items to a PDF document using the QGIS Print Layouts.
If the project has at least one print layout defined, printing is available over the menu.
After selecting the print layout, the PDF document is created and stored in the project's directory.
A video demonstration of how the complete workflow looks:
You can also print an atlas by selecting the features. Choose features on the map, select them in the list and print them: Menu ( ⁝ ) Button > Print Atlas Feature(s) to PDF.
Or you can print one single feature directly in the form with Menu ( ⁝ ) Button > Print Atlas Feature to PDF.