As of yet no. InfoPath and printing don't really go hand in hand. Most people are using InfoPath and browser based form. Thus all you're really doing is printing a glorified web paged. Or that's at least how I understand it.
If printing is critical, you could create a Word document and connect it to the SharePoint library, write a workflow to generate the required fields in the Word document. That way at least you could control printing and pages breaks etc.