It can be done when the print format is set to Dot Matrix Format or Quick/Draft format, and the option Print to a File is enabled.
To print the contents directly to the printer
Press Ctrl+P in the invoice.
Press C (Configure) > type or select Print Format > select Dot Matrix or Quick/Draft Format.
Type or select Printer > set Print to File to No > and select the required printer.
You can now take a printout of the required information from TallyPrime.