magento-test/app/code/Magento/Theme/view/frontend/templates/html/print.phtml

<?php
/**
 * Copyright © Magento, Inc. All rights reserved.
 * See COPYING.txt for license details.
 */

/** @var \Magento\Framework\View\Helper\SecureHtmlRenderer $secureRenderer */
?>

<?php $scriptString = <<<script

    require(
        [
            'jquery'
        ],
        function($) {
            $(function() {
                window.print();
            });
        }
    );

script;
?>
<?= /* @noEscape */ $secureRenderer->renderTag('script', [], $scriptString, false) ?>