Hi Trent Dudei and welcome to our forum,
Unfortunately, printing support is lacking in InfoPath. However, you can do printing from InfoPath through Word. It's a bit tricky, but it should solve this problem. You will need to build a custom XSL for the data going into Word. Good luck and let us know if you dig into this. If you'd like we can help you dig into it. Send me e-mail separately. Ciao!
Patrick Halstead [InfoPath MVP]
InfoPathDev
Patrick Halstead
Project Manager at Qdabra