Yes, there is a way, but it is quite complex (Java making an universal printing library for all systems, made it quite abstract).
I have seen posts in the past about printing... Use the search from Processing.org, wider and better than Zoho search.

What I do when I need to print the screen, is find a work around. You can save .tiff or .PDF in a folder and make Automator (Mac) print every new file to the printer. That's quite easy, and is in the basic examples of Automator.