You can print the voice commands to a .pdf file named "PSPBV2commands.php", saved in the "Documents" folder pressing the related button at the bottom of the Test window. Then you can open the file with your browser or other programs and print the commands to a sheet of paper by those apps.

NOTE: if you change a voice command, before to print the new list you must close the Test Window pressing the button 'Ok' to confirm the change.

This feature is only available on Windows 10 or lather.