'Print out' is the verb we use for home and office printers, and it's more specific than just 'print'. Any time you can say 'print out', you can also say 'print ', for example, "I'm going to print out a receipt for you" or "I'm going to print a receipt for you".
However, the reverse is not true. There are many situations where you can say 'print', but not 'print out'.
For example, "This book was printed in 1850" or " The newspaper is printed daily". You cannot use "print out" in these cases.