You could redirect the output from the DIR or TREE commands to a file
and print it from Notepad. Alternatively, if you'd like something a
little more integrated, have a look at a 3'rd party product such as
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.