The company is a major provider of learning resources for the US education market.
In the deal, RR Donnelley will produce a wide range of products including textbooks, workbooks, testing materials, teachers’ editions and ancillary products.
The McGraw-Hill Companies chief executive Harold McGraw III said RR Donnelley's "broad capabilities, continuing investment in new resources and decades long experience" made them "an excellent fit" with McGraw-Hill Education.
He added that the multi-year contract "will deliver significant cost savings to The McGraw-Hill Companies over the life of the contract".
RR Donnelley president and chief executive Thomas J. Quinlan III said: "Our financial strength, consistent performance, and continuing ability to develop and offer new capabilities allow us to deliver exceptional value and to build lasting relationships."
RR Donnelley secures $800m education printing deal
RR Donnelley has been awarded a $800m (404m) seven-year contract with McGraw-Hill Education.