As a general rule, very few people expect or even want a printed home inspection report. Almost everything is via email these days.
Once you Publish the report to yourself you can open the link from the invitation email and print out the PDF just like you would any other document from the Internet.
Many modern printers are Wifi compatible but you may want to haul around your laptop and inkjet printer if you plan to print your reports. I carried these for the first few years I used Tap Inspect but the ink cartridges kept drying out from lack of use.