I've found the Readthedocs website really useful for making documentation, for example, for the Little Books of R and for the Vibriowatch Tutorial.
One very nice thing is that you can keep the versions of your underlying text in github, and when you update the text/figures in github, it triggers readthedocs to update the formatted version on the readthedocs website.
There's a nice tutorial on how you can do this: here.
The steps are (as described in the tutorial here):
1. Preparing your repository on github
2. Create an account in readthedocs you don't have one already.
3. Import the new project into readthedocs
4. Checking the first build
5. Configuring the project
6. Triggering builds from pull requests
7. Adding a configuration file
8. Versioning documentation
9. Getting project insights
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