InfoPath 2007 has a new feature that lets you automatically print multiple
views. In designer, simply click on "View  | Print Multiple Views" and there
you can select which views to print. What InfoPath will print should be
printer-friendly (the best way to check it out is to hit "Preview" in your
form, then "Print Preview".

Note that when printing even without doing that, the printouts are "printer
friendly" already. For example, the buttons are stripped. If you want to
further customize your printing, you can create a new "print" view (via the
"Views" taskpane), copy-paste your original view into it, and then customize
it how you wish.

Hope that helps,

Dave.