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"The easiest way to detect if a file has been modified to digitally sign the document. Reader and Acrobat will report if the document has been changed since it was signed."
Then can I print the document with digital signature to show that the document has not been changed since printing?
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The digital signature shows that the document has not been modified since signing. A print does not modify the PDF file, so you can print that, but the paper document does not contain the digital signature. To prove that the document has not been modified, you need to send the signed document.
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But how can one prove that the document is not modified between the time it was printed and the time it was digitally signed?