The method I use, is to create "printer friendly" documents in PDF for the pages that will likely need to be printed, then embed the File>Print action into the document pages using Indesign and Acrobat Pro.
I use print resolution (175ppi or so) PNG8(line art) or PNG24(continuous tone) for placed graphics, for fast download and good quality prints.
PDF format is "press-ready", with no image compression.
The indesign PDF is opened in Acrobat Pro and the desired actions embedded in the pages.
The "Print page" link on the site opens the PDF, and the printer dialog appears automatically.
GL