Yes you can print from the viewer. I've used PDF995 and it works ok, although you may need to play with the settings.
On FILE>PRINT>PRINT LAYOUT there is a quality setting which I usually set to highest definition.
If you can put up with the ad's you can have it as a free version.
bc.
2.4GHz Core2 Quad, 4GB RAM,
Quadro FX4600.