I guess so. I haven't do anything like that so far but if you are using Factorytalk Vew ME you can select which alarms you want to print on "Alarms Setup" option, then choose "Advanced" and there you you have a check box to give audio, display and/or print the alarm you want.
You can configure your printer through PV+ and assign it an IP to be connected to the network.
Regards,