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The Mac App includes some changes to the regular Sage installation, and I think the documentation is not up to date. First, a good way to access the documentation is from the Sage website: https://www.sagemath.org/help.html, and in particular https://doc.sagemath.org/html/en/reference/manifolds/index.html for manifolds in particular. Another way to access it is, while running Sage, use the command reference() to open the Reference manual. From the Jupyter notebook, you can also use the "Help" menu. (With the Mac App, the documentation is available at /Applications/SageMath-10-1.app/Contents/Resources/documentation/, but all of the html files are compressed.)

To access the PDF documentation, probably the easiest way is again through the SageMath website: https://doc.sagemath.org/pdf/en/reference/ and https://doc.sagemath.org/pdf/en/reference/manifolds/manifolds.pdf, for example. Unless you're planning to change the code and then rebuild the documentation, this is probably the best choice. If you are planning to change the code and rebuild the documentation, you should instead be building Sage from scratch, in which case you should follow the installation guide.