Yes. Just like Clover Station, a Clover Mobile and Clover Mini can connect to a Kitchen Printer as long as the devices are all on the same LAN (local area network).
NOTE
If you are on the FD2000 Plan, you will not have any orders to send to a Kitchen Printer (or any Order printer) because you will be taking transactions instead of orders. Please upgrade to the Pro Service Plan if you would like to send orders to a Kitchen Printer.