Now you can do it from workflow with help of HarePoint Workflow Extensions: http://www.harepoint.com/Products/HarePointWorkflowExtensions/SharePointPrintingFeature.aspx
You can also convert InfoPath froms to PDF with this product: http://www.harepoint.com/Products/HarePointWorkflowExtensions/SharePoint-InfoPath-PDF-Conversion.aspx
WBR, ...