You could use your web browser for printing with syntax highlight.
I have created a macro SYN2HTML.VDM that generates listing with syntax highlight in HTML format. You can use the listing in a web page, or you can print it from your browser.
The macro can not produce 100% correct syntax highlight, of course, since it is not possible to interpret the pattern matching codes in the .syn file. But it should work quite well with most languages. I have mostly tested it with Basic and C source files and with Vedit macros.
You can download the macro from my web page: