In general, we recommend that you use the C program utility, Makeinfo, to create an info file from a Texinfo source file and then, by using the command, texify, format the document and print the DVI (Device Independent) file.

See Texinfo, The GNU Documentation Format manual for more details.
 

info also provides you with a command for printing.
M-x print-node
Pipes the contents of the current node through the command in the environment variable, INFO_PRINT_COMMAND. If the variable doesn’t exist, the node is simply piped to lpr.