Where can I find a good, printable map (PDF) of Kraków (Poland)?
I find Google Maps not very suitable for a printable format. Being a road map, it's very much focussed on car travel and not so nice to read.
A quick Google search got me to Orange Smile's website with Krakow city guide. The map is pretty detailed and is in image form already so you can print it easily.
Since I've already been to Krakow, I can tell you that this map is quite adequate if you plan on visiting major attractions and explore the city center.
Very good map of Poland is a free UMP Map. It's something like Open Street Map, but in Poland UMP is usually more detailed than OSM. Here is Kraków on UMP. Just make a screenshot and print it.
There is also a commercial solution: map of Kraków made by Compass. It's a Polish company from Kraków, you can buy their map of Kraków in both paper and digital version (graphic file - PNG) which you can then print.