Printing in booklet format

pdfjam seems the best option:

What we want is one or more signatures/booklets (a bunch of sheets folded in half).

pdfbook is one option which was, however, not quite satisfying since it is only able to create one booklet. In order to create multiple booklets its "brother" pdfjam helps us out here:

Creates a document mirrored along the long edge and creates 40 signatures.

Note: For --signature n: n must be a multiple of 4

There's also pdfbook2. Unlike pdfjam it shows the --signature option in the manpage. However it seems to be very slow or not working compared to pdfjam