You can use the calendar screen inside PrintCentral to print your existing iPad or iPhone calendars.

View either by List/Day/Week/Month
Tap the Print button
You can choose several layout and date range options by tapping on the "Printer Options" button on the Print screen. eg. Print multiple months at a time, or several days/weeks
You can also choose to print the month screen as a single page, or multiple pages to not truncate event descriptions.
There are several printer options for printing maps when printing a single event, as well as driving directions.
Other printing options include print location, notes, duration, event color, ignore 'all day' events and more.

Use the printing help topic to set up your printer. (View)