"Is there a way to print photos from Lightroom?"
No unfortunately, but is frequently requested by users for future upgrades.
Currently you need to Export an image to your local system (image downloads from the Cloud) and then use another app to print.
*If you have Photoshop (or another suitable App) installed locally then you can use the [Edit In] menu item to open the image in that App instead of Exporting, then print..
Also if you use the 'Local Mode' of editing in Lightroom- you still need to export a derivative image file as Lr does not alter the file on disk (edits are saved in XMP sidecar file).
Regards. My System: Windows-11, Lightroom-Classic 15.6, Photoshop 27.8, ACR 18.7, Lightroom 9.4, Lr-iOS 10.4.0, Bridge 16.0.3 .