In Acrobat open the Properties dialog (ctrl + D) and select the security tab.
![Security_1.png Security_1.png](/t5/image/serverpage/image-id/2138iFBE0F04817001B56/image-size/large?v=v2&px=999)
Click on "Change Settings" and enter your password.
Change the settings for printing and confirm with "OK".
![Security_2.png Security_2.png](/t5/image/serverpage/image-id/2139i0CA4F5B073790C25/image-size/large?v=v2&px=999)
Even if Acrobat warns you that the changes won't be applied unti the form is saved, you already can print the form now.