This functionality is also built into SP2010 / Infopath 2010. However, there is no way to configure it in Sharepoint, but only in InfoPath.
In Infopath, under File> Information> Form Options, you have several options to limit users to use your form. To get print functionality, you need to enable the InfoPath feed ("Show InfoPath Commands in the Ribbon or Toolbar" as well as the "Preview" option), and you're good to go. See the image below for the correct settings in the dialog box: 
Dennis g
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