NOTE: You can't get nice printed output from Info files; you must still have the original Texinfo source file for the manual you want to print.
\input texinfoYou may need to alter `texinfo' to the full pathname of the texinfo.tex file, which comes with Emacs as man/texinfo.tex (or copy or link it into the current directory).
To get more general instructions, retrieve the latest Texinfo package mentioned in section How do I install a piece of Texinfo documentation?.