I developed a DSSSL stylesheet for this purpose that you can download from RioCar.Org.

To use it, you'll need to export as XML from jEmplode, then simply process the XML with the stylesheet using Jade (or your favourite DSSSL processor, if different). The included Makefile will automate it all for you, and the comments explain the prerequisites and how to customise (for example, I like to generate an A6-size booklet for the car glove-box). You can even print out a subset of your playlists by using any FID you like as the root.