How to print doc in icloud and download it to my computer (using Acrobat DC and Win10)?

What could be more predictable than a need to store doc on icloud (or whatever cloud storage is offered by Adobe), using Adobe Scan, then capture it on my computer, using Acrobat DC if necessary, and print it? But after numerous stymied tries, I see no obvious way to do it.  Do we live in a consumer jungle or what?