Install the component via the core Joomla installer. This will install a component and system plugin.
Enable the system plugin.
In the component, set your custom header and footer.
On the front-end of your site, affix "tmpl=component&print=1" to the end of any URL to preview what it will look like when being printed. (these variables are automatically affixed to com_content URLs when you click the Joomla Print icon")