In Windows Explorer, hold down the SHIFT key as you right-click the folder. Select Open command window here.
This opens the DOS-like command window. Type dir > printit.txt, then press ENTER.
Return to Windows Explorer, where you'll find a new file, printit.txt, in the folder. You can either double-click the file to load it into Notepad and print from there, or simply right-click the file and select Print.
You can change the look of that printed list by adding additional instructions to the dir command. For instance:
dir /b > printit.txt will print only the file names.
dir /o:d > printit.txt will sort the files by date.
dir *.png /o:d /s > printit.txt will list only *png files, sorted by date, and will include those found in the current folder's subfolders.
To find more such options, use the command dir /?.