Yes. I don't know why the 'off' is there; you could just as well say 'I will print this document for you.' Having been around throughout the life of home computing, I get the feeling that we add the 'off' to emphasize the ease of producing what is printed. (Several other phrasal verbs that imply ease include the word off - 'dash off', 'reel off', 'laugh off'...)
b