I don't believe there is a direct way to do it, but if you're looking to export all printer data, you could create an Advanced Computer Search, search for Mapped Printers, click the ... button and you should see a list of all printers mapped in your environment. You could just copy and paste that to an excel sheet.
If you're looking to export a specific machine's mapped printers (again, don't think there's a direct way), you could do it via API. Specifically I would look at /JSSResource/computers/id/<id number>/subset/Hardware , under the mapped_printers section.
