How may I printout a listing of all of the Quicken for Mac categories?

You can't (easily). This is a long-requested small feature which has not yet been built.

You can add your vote for it here:

Why hasn't it been created yet? Simply because there's been a long list of feature requests from users to the development team since they re-created a modern Quicken Mac a decade ago, and plenty of things are still waiting for them to get around to. I guess they haven't considered this as important a priority as other things they have done and are working on. It seems like something they'll get to eventually, but when is anyone's guess.

Meanwhile, about all you can do is enlarge the Categories window to the full height of your screen, take a screenshot, scroll down one page, take another screen shot, repeat until you get to the end… and then print the screenshots. It's certainly annoying, but is fortunately not something most people need to do often.