If you are currently looking at the agreement in the top title bar of the signing window, there should be a download button. You can download it to your computer to print. It is a small downward pointing arrow icon.
If you don't see this icon, which can happen on some browsers when you are in the sign window, reload the page you are on. This will bring back the agreement step. Then click on the View button at the bottom instead of sign. There you will see the download icon at the top.
Once you have downloaded the agreement to your computer, you may open it there or print it.
How to Sign the Listing Agreement