While the entire view can be printed directly, there are two ways to print a single record. The simple way is to right click the "View" link, displayed next to the record and click on "Open Link in New Tab/Open Link in New Window".  Once the record is displayed in a new page, from the browser, click "File->Print".

Alternatively, you can invoke a custom function to open the record in a new page and subsequently print it.Please refer the this post for more details on the same.