What you are looking for is public-key cryptography, where the document can be encrypted using one key (available to the server) but decrypted only using a different key (available to the client).
I'm not sure there is any seamless solution, particularly if by "documents" you mean Web pages. The problem, as always, is that you are constrained by what the client supports, and while there is some crypto support in modern Web browsers, I'm not sure its up to providing what you need.
One possibility worth investigating is crypto packages that include browser plug-ins to handle the decryption transparently. I don't know that any such packages exist, but I wouldn't be a bit surprised if they did since the basic crypto technology is widespread. (Such packages may not be cheap, though.)
If the documents in question are not Web pages (that is they are Excel, Word, PDF, etc files) and if you are willing to trade off a bit of seamlessness, you could use something like PGP (www.pgp.com) or its open-source alternative GnuPG (www.gnupg.org), which will allow users to create and exchange the needed crypto keys and to encrypt and decrypt files using those keys.