Great question, Stephanie!
I’m afraid that I have not seen a good extension for optimizing the calendar’s print styles. For the time being, it would be a fairly custom development task that would require writing custom CSS.
I do know that optimizing print styles is something that we discuss here on the team from time to time and that we have an open ticket in our system to explore it further. I don’t see any timeframe for the ticket as it seems to still be in the exploratory phase of things.
Sorry for the bad news, but does this at least help answer your question? Please let me know if you have any follow-up questions here about print styles and I’d be happy to help as best I can.
Cheers!
Geoff