Hi Ciara,
When I started using Marketo a year ago, I asked the same question. Unfortunately, there is nothing that you can download and print off. I suggest using the community and the resources and tools it provides. Click on the University Tab at the top. From there you will see a few boxes, the top one is "New to Marketo" I would start there. Then move on to the "courses" box. They have a ton of prerecorded webinars that will show you hands on.
I also bought Josh Hills "Marketing Rockstars guide to Marketo" and found that to be helpful as well. If you ever have a question, type it into the community box, its more than likely that someone else has had the same quesiton. If not, go ahead and post it! People in the community have been VERY helpful for me. if all else fails, call support and they will troubleshoot your question for you. The more you are in the system and using it, the more familiar you will become. Hope that helps some! Good luck!!!