You can use the layout module for this. If you prepend your URL with e.g. /layout/set/print you will get the print layout for your site. This is configured as default with eZ publish so if you just link to an object in your site like this: http://example.com/layout/set/print/content/view/full/42 ( where 42 is your node ) you will not get the header and footer you normally have.
