If you open a pdf as you normally would and hover your mouse of the grayed out printing icon, you'll see a note about "Printing not yet available". This indicates that it may be fixed in a future release of chrome. Chrome updates happen automatically, so you won't have to do anything.
The work around is to click on the three buttons to the right of the pdf preview and select 'open in new window'. You should be able to select the print icon and print from there.