You'd have to filter the board first using JQL.
Parent in (issue1, issue2)
To be able to do that you have to use the Agile Board Filter plugin.
Afterwards you can print the board using JIRA 7 print option or any other print plugin.
If you use Agile Cards then you'll get extra option to print unprinted cards only if used together with the Agile Board FIlter
See lastes video how to print unprinted issues only
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