In order to print all reservations of a specific day, just go to that day and click the print link below the weekly or monthly mini-calendar. You could also use the regular print option of your browser.
The print view will include all relevant details, but will remove the basic CentralPlanner layout.
In order to print other pages than a specific day page, just use the print option your browser has build in. On Windows it's probably STRG+p, on a Mac it's Command+p.