In Speedgrader, annotated submissions can be downloaded as PDF files. These can be printed with the annotations using Adobe Acrobat Pro. Simply open the downloaded files in Adobe Acrobat Pro, and create a comment summary.

Read more on Acrobat Library:
How to print a PDF with comments (see under: Create comment summary)

View a video tutorial from Youtube.com:
How to print comments and markups in Adobe Acrobat

Read more on Canvas Community:
How do I use DocViewer in Canvas assignments as an instructor?
How do I use SpeedGrader