I figured it out, I added using the \" lol!! Thanks for your help!!!
nawk '
BEGIN {i=1;out="mov_rcs1"}
{
printf "/omp/bin/TICLI -1 \"move:rcs %d,altap\" %d\nsleep 20\n",$1,$3 >out
printf "/omp/bin/TICLI -1 \"move:rcs %d,priap\" %d\nsleep 40\n",$1,$2 >out
}...