I think this is possible by creating a copy of the project, using "Convert Project" (in the project menu > Project > Advanced). Name the new version e.g. "XXX old". The copy will contain the original project's history. You can then revert the copy to the point in history you would like to print, and from there you can do anything with it - print, typeset etc.
NB The new project will be shared with the same users as the old one; you may want to remove them (or block editing rights) to avoid confusion.
Paulus