You can’t get nicely printed output from Info files; you must still have the original Texinfo source file for the manual you want to print.
Assuming you have TeX installed on your system, follow these steps:
You may need to change ‘texinfo’ to the full pathname of the texinfo.tex file, which comes with Emacs as doc/misc/texinfo.tex (or copy or link it into the current directory).
Alternatively, ‘texi2pdf’ produces PDF files.
dvipsprogram to print the DVI file on that printer.
To get more general instructions, retrieve the latest Texinfo package (see Installing Texinfo documentation).