Your question is not very specific. What application do you want to print highlighted text from?
If you mean you want to print specific text from like a web page, you can highlight the text, this automatically copies it to the clip board. You can then open a text editor, like Kate in KDE, or open a word processor like openoffice.org, middle button click will paste the copied text from the clip board to text editor or word processor. then print your document from kate or openoffice.