You can drag a folder to a printer in the Dock, but that will only print the contents of that folder.
You can use the list (ls) command in the terminal and direct the output to a text file.
ls -1RF folder/path >> output.txt
Leave off the 1 to have it print across the page in columns. The F causes it to identify folders with a /
Leave off the R to just list the folder and not the subfolders.
Wrap it all up in a Automator Service and you can access it in the contextual menu.
Service receives selected Folders in Finder
Run Shell Script (Pass input: As Arguments)
ls -1RF "$@"
New Text Edit Document
Open Finder Items
Or use the scripts here:
build the droplet in AppleScript Editor, and drag the folder on to the droplet.
This thread has other suggestions: