The best I have managed so far is to use Plucker to convert the page displayed when you select print and then view the output in opie-reader. The actual page isn't very easy to use but so long as you use the "link to full size image" and "Allow image to exceed 60kb" options you can get a reasonable scrollable view by tapping on the thumbnail and bringing up opie-reader's image-viewer.
I don't have AvantGo so I don't know if it provides any extra functionality than just displaying the map - if so I haven't found any way of replicating that.
