You could use some code like
Dim stDocName As String
Dim MyForm As Form
stDocName = "FORM NAME"
Set MyForm = Screen.ActiveForm
DoCmd.SelectObject acForm, stDocName, True
DoCmd.PrintOut
DoCmd.SelectObject acForm, MyForm.Name, False
In the form, go to file, then page setup, then Page, you can specify a printer to print on from there.
Hope this helps.