using free pdf995 which you can download from here...
as long as your friend has a PDF reader (eg adobe acrobat reader which is also free). I use pdf995, it's easy to use and has always worked perfectly for me. You can use it to create PDFs from a variety of programs.
I don't think Microsoft produce a viewer for Publisher to allow those without the program to view and print publisher files. As you say, you could scan them but that's a big job.