You can print any order on the CLEAN, READY or SEARCH screen as long as you have a printer setup and enabled
Click the Printer icon in the far right column of the order you wish to print. If you have both a receipt and a tag printer enabled a pop up box will appear asking you to confirm what you would like to print.
You can change what receipts you would like to print from each page on the Settings->Printer page. For example you can set it to only print the customer copy if you print from the READY page.