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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:
\input texinfo
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.
dvips
program to print the DVI file on that
printer.
To get more general instructions, retrieve the latest Texinfo package (see How do I install a piece of Texinfo documentation?).