Is there a way to print a contact list from an iPhone?

Easiest way is to use this or similar:

https://itunes.apple.com/app/my-contacts-backup/id446784593?mt=8

Another way to do this is to use Contact Sheet (https://itunes.apple.com/app/id894488957?mt=8) which can print your contacts and pictures or it can export them into an Excel file. You can print all of your contacts or just a select group that you choose. You can even share contacts and only include the fields you want, so, for example, if you want to share email addresses with a new mom's group but you don't want to share home addresses, you can create a contact share file (VCF) that only includes the names and email addresses of the members of your new mom's group!