How to print contacts from iPad?

If your contacts are housed in iCloud …

Import, export, or print contacts on iCloud.com - Apple Support

Otherwise, take a screenshot of each contact and print the screenshot.

Easy - and you don't need to resort to using external services such as iCloud.

From your iPad's Contacts App, expand the Contacts sidebar using the blue sidebar button at top-left of the Contacts App window. Here you will see a list of contact groups that you have created - and the full list labelled "All iCloud".

Touch-and-hold All iCloud to expose the Export button. Tap this button and select the fields that you wish to export - then tap Done at top right to open the Share Sheet. From the Share Sheet, choose how you wish to export your Contact list - noting that the list can be printed or shared with various Apps, or simply saved to a file.