I know this is an old posting, but I was having the same problem and finally figured out the solution, which turns out to be very easy.
I am using Version 8.0 of iCal.
1) Uncheck every calendar other than the one you want to print events from.
2) Enter "" in the search box. A list of all the events in that calendar will appear along the right side of your calendar window. (Alternatively, you can enter a specific search term if you want to narrow it down.)
3) Choose the specific events to be printed by Control+Clicking on each of them (while holding down the Control/Command button), OR you can choose all of the events in the list by pressing the Shift key and clicking the first and last events. The selected events will be highlighted/bolded.
4) Choose "Print" from the menu bar.
5) Choose "Selected Events" from the "View" drop down menu in the Print window. You should now see a list of only those events you want to print.
It prints the list in a double-column, but otherwise it did the trick for me.