printing nicely is somewhat a function of your software and physical printer & paper.
My suggestion is GIMP(can be frustrating) or Inkscape if you don't have existing software.
A 1200*1200dpi ink jet does a nice job at 300 dpi. Make sure your printer function is set to high resolution otherwise your printing software dumbs it down to save time & ink. Use 24# matte or photo paper. Spray with auto enamel to seal.
The big printers at FedEx and such on chromecoat do a professional job. Wallymart has photoprinting in some stores.
For personal use the internet is your buffet for one-off home projects. Try museums, Google image search, deviant art websites, etc. You can even scan some pages from an art book from your local library. Old medievil art/maps/tapestries work great.
I find you will need layers; Art, artwork & highlights & shadows, big square of 50-75% transparent white or gray fill to lower saturation, maybe a texture layer, border artwork, outlined text at some transparency, contrasting text.
Honestly, AoN & paizo pdfs are very handy to reference on a laptop/tablet during play. You could just print your condensed data to a png and reference that. pdfs are 150-200dpi.
