You know what... I haven't tried printing it yet... I just assumed what you see on the screen is what will come out of the printer? This may be something that Google has to deal with, but I will tinker with it when I get a spare moment and let you know.

The "Get Directions" link should automatically take you to the google maps page and map the route you typed in. You simply have put your mouse over the "Get Directions" square, then a little blue box to the left pops up, and click on that... it should open a new window and plot your route in order of destination. It will only give you the quickest route to these points. If you are good at editing spreadsheets, you can move the map and underneath there are a bunch of forumulas for the directions.
Hopefully this will answer your question?