The easiest way to do it is to select the domain(s) you want printed, the "More" box and "Print Domains". This will print the name, auto renew, if it's a certified domain, lock on/off, privacy on/off and the status in an ugly format.
To get more technical, you can select specific fields by "More"->"Export List", name it, select more printable fields like nameservers etc., save it as a "CSV". It will be emailed to you and a CSV file can be opened in Excel or another spreadsheet program. From there, you can delete specific columns or make it prettier.