It is possible to enable printing the Legend and/or the MiniMap panels with the main map window. For guidance, refer to the DK source code PrintPreview sample (found in DK sample set 4) and the OnPrintPage layer event and GIS.PrintRect method.
Also refer to the TemplatePrint DK source code sample (found in DK sample set 6) which demonstrates how to use print templates to organize the print sheet.
The DK developed free TatukGIS Viewer and Editor products are good examples of user enabled selection of the panels to be printed.