It depends upon the complexity of your requirements.
There's nothing out of the box that I know of but its possible.
My first thought is to define an action that runs on the server that prints the document. However that action will need to worry about the mime type of the content so for example if you have a word or autocad document then something needs to understand how to print that fomat. You may be able to leverage the transformation framework for this. And the second part of the problem will be to print the resulting stream.
On the other hand, depending on your requirement, it could be as simple as running a single line of shell script.
