It sounds like there is no general purpose Android user guide. But, the Nexus One User Guide is a good approximation to an Android User Guide. Of course, all the hardware details are different, but once you're past that, there is a lot of useful information. In particular:
- Page 36 provides the basics of how to use the touchscreen
- Pages 50-51 list the meanings of all the notification icons
- Page 62 gives you ideas for how to maximize battery life
P.S. I'm guessing that the Google Mobile Forum is a good place to get help for Android-based mobile phones.