Every article and FAQ in a Herodesk help center has three view modes:
Default: As you read this one.
Blank: Without the header and footer - just the article.
Json: The content of the article or FAQ in JSON format.
You can access the different view-modes using the URL address, by adding an additional ?layout paramter.
Fx
https://help.herodesk.io/en/46-how-to-embed-an-article-or-faq?layout=blank
https://help.herodesk.io/en/46-how-to-embed-an-article-or-faq?layout=json
That way, you can include the blank format in an iframe, or you can load the json format using Javascript (AJAX) and format it in any way you like when loading it on your own website.