preferences -> display -> default user interface -> title formatting
You want the first tab, copy command. Put this formatting string in the text field for copy command.
CODE
%tracknumber%-%artist%-%title%
Assuming you have all of your songs properly tagged that should do what you want. Now go to the playlist you want to print. Press CTRL+A to select all the songs and press CTRL+C to copy all of the names. Paste the names into your favorite text editor and print.