Airport diagrams are available in published charts, through services such as Jeppessen, I have downloaded & printed basic ones off of AOPA's website, and if you have very good eyesight you can use the ones in the AFD (very small print).
As for onboard printers, I think you're thinking of the ACARS printers. Those are used to print the ATIS, crew reroutes, messages from dispatch, etc. These are not on every airplane.