This is Finley from the Social Care team at Shopify. Thanks for your question!
What I recommend in this case is to use an app, like the free Shopify supported Order printer app. This app allows you to print invoices with ease from your Shopify admin like so:
Let me know how you find the app! If you have any further questions about this, please don't hesitate to let me know.
I hope you're having a great day, John!