Extracting a still picture from a video.

Usually the software will let you freeze images. SOme will even let you 'export as pict'. This will get the image at least frozen for you. Printing it is another matter.
Video is actually very low resolution...only 72 dpi (dots per inch). Good print quality will need about 150 - 300 dpi. Therefore, when printing from a video source, the quality won't be very good...very grainy and soft. Perhaps that's why it's not mentioned in the instructions.
If you want to do it anyway, try freezing it and then see if there's and export feature that will let you save it as an image file.

Good luck!