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