Using the User Interface (Button):
Click on the Toggle Print Mode printer icon located in the editor title menu when viewing a sequence.
Using the keyboard:
With the visual editor focused, press Ctrl+P (or Cmd+P on Mac).
Print mode lays the diagram out for paper. You can pick a page format (A0, A1, A2, A3, A4, Letter, or Legal), choose Portrait or Landscape orientation, split the diagram across multiple pages, and export to PNG or PDF.