Make PDF Booklet v2.0 is a Cocoa-AppleScript applet that will create a PDF booklet containing tag info from the selected tracks (or every track from the selected playlist) and then add the PDF to iTunes and copy it to the playlist where the selected tracks reside.
The layout and text formatting of the document created is somewhat restricted, but I hope it is eminently readable and printable. However, you are able to choose which tag data to include for each track:
This latest version is a Cocoa-AppleScript Applet, so it can only be run on OS X 10.6 and 10.7. A previous version which can run on earlier systems is available from the Make PDF Booklet entry page.