I do this in one example by building a Skuid page that is printer friendly. I then use a navigation component to display a navigation item labeled “Print”. The navigation item action is to navigate to a URL tha opens in a new window. The URL I use is the URL of my printer friendly Skuid page and I pass in URL parameters as needed. You could also have the navigation item load popup instead of navigating to a separate window.

Here is a post regarding more complex implementations: https://community.skuid.com/t/idea-page-to-print-page-to-pdf-page-to-email-page-to-content-actions