Hi there, I’ve never really looked to be honest. When you say menu items do you mean you want to print the navigation menu items? Or the content inside them?
Also, for posts, do you want the end user to be able to print them, one by one? Or print every single post in one go?
I would say check the WordPress repository, https://wordpress.org/plugins/ as there are lots of print plugins with additional options.
Maybe something like this? https://wordpress.org/plugins/wp-print/