Printing your map is as simple as clicking on the printer icon on the top left corner of the map display, and then clicking the print button on the page that opens in a new browser tab:
Use the zoom in/out and panning buttons to adjust the map to the desired print view.
You can print your map at a larger scale by adjusting the settings of your print function* on your computer when you go to print your map. Adjusting the print size to 150% or more of the normal size should make the image of your map fill out a single sheet of normal sized paper.
*Different computers have different ways of changing this print setting. Some computers have a zoom function in the print setting that allows for this kind of increased print size. If you are unsure how to do this, try a quick google search on your printers settings to learn more.