If you don't mind the document being printed in edit mode, you can add a Postopen event to the form that checks whether a specific field exists -- "InDialog," let's say -- and if the field exists, that is it's way of telling that it's being opened in a dialog. In that case, Postopen calls Source.Print and Source.Close. Then you need a Print action button that gets CurrentDocument, Document, assigns the InDialog field, opens the dialog with DialogBox method and then removes the InDialog field.
I played around a bit but didn't find a way to make it print in read mode without a highlight.
You could do it by training your users to uncheck "display search results only" and then check "selected only" (or create an action button to do it for them). Now the search results are not search results any more -- they're just selected documents.
You could also put your search results into a private folder as described in this article. In that case there is not a highlight.
Check out "How Do You Prevent Printing the Outline Around Words Found in a Full Text Search?" This has been around for a while, apparently it did not work for a while in R5, but it works now in at least 6.5.2.
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