You can use the command line DIR command and redirect its output to a
text file that you can print from Notepad. If you'd like something a
little more integrated with Explorer, have a look at a 3'rd party
add-on such as ExpPrint http://www.jddesign.co.uk/.

ExpPrint is an Explorer context menu extension that gives you a "Print
Directory Listing" menu when you select any file folder, drive, or
files. It has quite a comprehensive sorting and layout capability,
and is only a small download.

ExpPrint is shareware, the only restriction on the non-registered
usage is that the Save settings capability is disabled. Other than
that it's fully functional.

Dave