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Welcome to the embark wiki!

Most of the documentation for embark is in the project README.

Additionally there is documentation on the default actions and some suggested additional actions and additional configuration.

Modest Embark Benefits

More available bindings: E.g., the titlecase package adds commands titlecase-line and titlecase-region and the embark-heading-map and embark-region-map are really convenient bindings for them as opposed to precious C-c LETTER bindings.
Consistency: [embark-act] h provides help for all kinds of different targets and [embark-act] t transposes regions, sentences, paragraphs and s-expressions compared to their less consistent standard bindings.
Discovery: Emacs has lots of little-known specialized commands that often have inconvenient if any bindings. I probably use them infrequently enough not to remember them. Embark exposes these at opportune times, making them easier to learn and use. E.g., the embark-region-map binds the commands align, whitespace-cleanup-region, apply-macro-to-region-lines, calc-grab-region, vc-region-history, and repunctuate-sentences among others and entire keymaps for sorting and encoding.
Small savings: [embark-act] h on a symbol saves a RET compared to the standard equivalent C-h o. [embark-act] w works if point is in the middle of a symbol, saving moving to its beginning compared to M-w. This is even more useful for an unbound command like delete-region which is bound to [embark-act] DEL.