Though it's not really the intended use for them, you could potentially create unique landing pages for each lead via the personalized URL functionality, and give that to your sales reps to access the appropriate data. Then you fill those pages with lead tokens from Salesforce or whatever CRM you use, and each page will have the unique lead's info on it.
That said, there's no functionality in Marketo to "export to PDF". There's definitely plenty of freeware "HTML to PDF" converters and plugins that are out there, which may serve this purpose, but it depends on the level of formatting you want in the PDFs. If you want a fancy looking, customized report, you may want to work with a developer to build a report generator. Though if you're going to that extent, it may be easier to hook straight into your CRM and bypass Marketo entirely.