|If your using Internet Explorer|
Click on File, Import and Export. Select export to file. Select Favorites, then click Next. Choose where you want to save the htm file. Click Finish, now double click on that file, it will open up in IE. Go to File, Print and there you go.
If you want to print the full URL's as well, when you click the print button, then click on the options tab at the top of the print window that just opened up and put a checkmark in the box next to Print table of links.