is there a list of all the commands for voice control in a printable format?

Do you want a list for MacOS or iOS Voice Control?

I am not aware of any printable material. I have created my own set for Mac and iOS. Unfortunately I cannot share pdf documents via this chat - but have attached an image of the document for MacOS below.

I will share the iOS version if that was what you wanted.

Note that this is not necessarily a full set of commands as getting all commands on one sheet is challenging! When I put it together it was what we felt was essential/required.

Hope that helps.

nb Items in {} are command options - use one of the options shown, items in <> are where you add the required name, number etc. Hope that makes sense.