AutoCAD allows you to make plot files directly from the print command with no extra software needed.
Choose File, then Plot (or click on the printer icon, either way you prefer), and under the Plot dialog box, choose the 'Plot Device' tab. At the bottom right there is a check box labeled 'Plot to file'. Check the box, and see that the 'File name and path' pull-down menu below becomes active. Simply choose where to save the plot file and name it as you wish, then click 'OK'. This will creat at Plot File (.plt) that can be used by many printing programs to reproduce the drawing.
Making plot files is especially useful when printing multiple sets of plan, as there is no image degradation that you get when reproducing through a scanner. Also, its a great way to archive a plan set.