How to print image from Bridge without creating PDF?

Following on what Erik said, the classic description of "Lightroom is Adobe Camera Raw with a database." Adobe built an entire application around the capabilities and features of ACR. The only thing that comes close to Printing in Bridge is the Output Panel, which allows you to "Digitally Print" your photos to a PDF.

If you want to print your photos from Bridge, I strongly suggest learning Lightroom or Lightroom Classic. I use both Bridge and the Lightroom family all the time, and seldom multiple times on the same day. This is because they serve different functions. All my important images, such as family photos, trips, etc., go into LRC. But my one-off images (things I want to sell, photos sent to me to use in a newsletter, etc., those I use Bridge to sort, analyze, select — all the things photographers did with lighttables. This is what Bridge was designed for, and it excels in this area. Lightroom is an expanded Bridge with features, often parallel, but often surpassing Bridge, because its own core mission is an expansion of Bridge. 

My hobby is woodworking. I own a chop saw, tablesaw (with seven different blades each for different purposes), standard western handsaw, two western joinery saws, circular saw, saws-all, two band saws, and four Japanese saws. Each of these has a different purpose and capability. Depending on the task at hand, determines which saw to go for. I could indeed do everything I wanted with Lightroom or Bridge (both with some assistance with PS as needed), but to get the full benefit of each, I use both.