I have the same request. I've set IFTTT to create a txt file on dropbox with the list, then wappwolf to send it to google cloud print.
It works, you say "Alexa what's on my shopping list", and she reads it and it prints
But it's too fugly to be of any use.
I'd guess the creator of the IFTTT trigger would have to enhance the output, but I don't know who makes them. Is it IFTTT, Amazon, or an interested third party?