Recommended way of printing a cold wallet
You can use BIP 38 encryption to encrypt your private key and then just print out your private key normally. BIP 38 will encrypt the private key using AES with a passphrase of your choice (so make sure that it is a secure one) and encode it using Base58 Check Encoding so you will get a string that is your encrypted private key. Because it is encrypted, you can print it out normally without risking the private key being revealed as the printer and any devices on the network will only see the encrypted string and not the actual private key.

The only caveat is that if you forget your passphrase, you lose the private key. One way around that would be to write your password on the printout.