I do this all of the time. Go to Publish, Genealogy Reports, and create a Descendant report.
Select the report and hit the Create button. With the report showing, click the "Items To Include" icon at the top left of the right panel. Select all facts and include all the notes you want.
If your database is large you may wish to consider making it an FTM book. In Publish selecting Books, give it a title and create a new book. Right click in the right pane and add two new book items. One; the Descendant report described above, and the Index item from Other. The index is nice as it help locate people in the report.
Once you get the book as you want it, click Share, and Export to PDF.
I take this one step further. For each maternal family I include a Descendant Report for their family up to the point of the marriage into the main paternal line.
I also include text items for any information I want to include like a long justification of one of my decisions.
I use this method with the Descendant Report rather than the Ahnentafel Report, as it gives more connection points when I am trying to connect with a distant cousin.