As someone who has put in some time working at Kinko's, it sounds like you ran into the "I don't want to waste my time with this" excuse.
I just looked over the 28 page manual pdf and I find nothing that says this is a copyrighted work. There is a Copyright symbol for the software
on page 27, but that's it. Even the updated 1.09 manual has the same Copyright for the software
on page 42. No Copying restrictions are present in either.
Go back and let them know they can print it out for you and if they persist ask them to show you where in the file/document it says they cannot print it. Go over their head and ask for the manager on duty. Raise a stink if need be.
Also there is a form that one can fill out to copy copyrighted work that covers the store's caboose.
Alternately try another store...no law in only going to Kinko's.