Open the text messages that you want, and press "Sleep/Wake" button and "volume key" at the same time to take a screenshot of contacts, then send them to yourself by email to print.
The easiest way that i tried is to print with a third-party tool
Jihosoft Phone Transfer allows you to extract and print sms messages from android, as well as photos, videos, whatsApp messages and more from your android or iPhone.
1.Download this software on your pc, launch it and select "Backup Your Phone".
2.Connect your Samsung to pc until it is detected by this software. After that, select "SMS" and click "Start Copy" to transfer text messages to computer.

3.After the transferring process, Open the backup files on your computer, check the messages then click "Print " to print out the text messages.
