I do not know anything about printing with Java.

 I only can give some hints regarding reading, writing
 and RTF in general.

 My semantic net knows three programs that can read RTF.

http://purl.net/stefan_ram/garnoo/XOCATALOGUEXOYTREEGXOPROGRAMMINGXOLANGUAGEX
SYRYTYFXOREADER

 As one can see there, this includes at least two that are
 available as Java libraries.

 An RTF documents is written with Java as follows.

new java,io.FileWriter( "example.rtf" ).
append( "{\\rtf\\ansi Hi!\\par}" ).close();

 General information about RTF:

http://msdn2.microsoft.com/en-us/library/aa140277(office.10,d=printer).aspx
http://msdn2.microsoft.com/en-us/library/aa140297(office.10,d=printer).aspx
http://latex2rtf.sourceforge.net/rtfspec_45.html