Something to think about. HMI screens are made so that they are easy to read by humans, they don't necessarily look good if you print them out. It might be better to have one screen that the human looks at and a different layout for what gets printed.
A lot of HMIs give just that facility, sometimes called 'graphic format' and 'text format'. Text screen are much easier for a printer to print, the HMI sends out ASCII data over a serial interface, often RS232. Using RS232 means you don't need any special HMI or any special printer.
Web search for 'RS232 printer'