Project Mallard looks like an interesting format to create documentation. Let's hack a proof-of-concept to see if it fits the Tor Browser User Manual requirements.
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I think Mallard is a very nice markup language and has all the features we want:
The language is well designed. Its principles are sound and likely to create good documentation.
Helping translators creating nice translations is all integrated thanks to W3C ITS.
It supports conditional text for different platforms.
It supports integrating outside element pretty easily (like the Tor Browser version).
The only thing we might miss, but I'm not sure, is a single HTML file. We could already ship EPUB easily and a single HTML file is only some XSLT hacking away.
Please have a look at the proof-of-concept and comment.