To print your generated document: 

1) Option to download it right away (check box to ‘download’ document in document action) then you click to open it on recent downloads and then print PDF like normal.
***Option to auto open document in Preview if using a MAC.
2) You can print after you click to open the PDF from the Notes & Attachments related list (or Files if using LEX).
3) Click on google doc link you saved in a URL field after generated and print document from google drive. If you have a lot of documents on drive that you would like to print at once, you can save all Google docs to a Google drive folder then batch print from Google drive or by syncing to your computer and print them from there.

If you would like to configure a process to mass print your documents, see this article for more detail.