There is no ready-made function for this.
You have to first build your own wiki page or PDF that contains all the pages you want and then print that.
The other thread How to display a list of sub-pages AND their content on parent page? describes how to create a user macro that automatically retrieves content from subpages. For hyperlinked pages you have to somehow extend that macro or include them with the include macro.
With Advanced > PDF Export > Custom Export you can chose which pages to include in the PDF. Including all subpages can be done with a single click on the parent page, but hyperlinked pages must be manually searched for and activated one be one.
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