I use SnagIt, a neat piece of software from Techsmith to Capture and print my Outlook Tasks when I want to take them on the road. SnagIt is a great tool for this and many other tasks. I highly recommend it.
Did you buy @Store the GTD & Outlook? You can use the same system defining the view. I'm sorry because I'm from Italy - so I use italian outlook. However I try to translate properly View/Define a View/New ....at this point you choose whatever you like, you decide a name for this kind of view ( I use Print for Hipster PDA ) and that's it. Remember before you print to expand all the categories