If it's a small document (one page) any of the DVD burner suites can walk you through creating a DVD menu, usually the kind of thing used to launch a movie, jump to chapter, etc. But instead of a menu, use the text/images from the manual.
If it's multiple pages, you can still do that -- but it would mean creating multiple linked menus in that same DVD suite.
Alternatively, you could drag each page of the manual into XP Movie Maker, and set a delay for each page. Then compile it into a .wmv and burn THAT onto a DVD as a regular movie. Then the user can pause/fast-forward/rewind the movie on their TV using a remote control.
But creating such a beast would be kind of tedious.
How about just printing the thing out? Paper's kind of the universal data exchange medium.