I use a program called Total Commander. It's free.
To print a list of folders (or files)
Browse to your hard drive (location of the folders you want to print)
highlight them all, go up to the menu and click on "mark" then click on "copy selected names to clipboard" or "copy selected names with path to clipboard"
open notepad and paste in the copied names and print.
This program is also THE BEST program for moving, deleting, renaming, viewing all files of any type. Plus a thousand other things.
Way better than windows explorer, with side by side windows for copying, comparing files or folders.