I recommend printing the map directly from Adobe Acrobat Reader. A recent version would be good, such as version 5, 6 or 7.

The ideal type of printer to print them on is a color inkjet or color laser printer.

When printing from Acrobat, make sure to:

• For highest quality results, use a good quality paper. For instance, on my Epson printer, I use the Photo Paper instead of plain paper for maps.
• Choose the highest quality print settings you can

Some troubleshooting tips:

• If the map doesn't print very close to the edges of the page, try the "Enlarge Small Pages to Paper Size" setting in the Print options.
• If the map gets cropped, make sure you choose the proper orientation (landscape or portrait), and if that is not the problem, check the "Shrink Oversize Pages to Paper Size" setting in the Print options.