Depends on what you want to print.
If you simply want to transfer the textual representation as you see it in a tracker to paper, you can for example use OpenMPT and select all patterns in the order list, copy them to the clipboard and then paste them into a text editor, then print it.
If, on the other hand, you want to print them as a classical staff view, this is a lot more complex because modules generally work very differently from classic music notation. You can, however, try to convert the module to a midi file (e.g. using un4seen's
2midi) and then import this file into e.g.
LilyPond.