As to printing header and footer, I can suggest you checking the forum threads listed below:
Export to RadDocument (TableHader over multiple pages?)
I need export radgrid to pdf with custom header and tile
Generally, you may use the RadDocument for exporting images to pdf with the document viewer control - RadRichTextBox. Please also check this help article on creating a document table in code behind. In order to export an image, you should add it to the RadDocument.
You can also check this forum thread for an example on how to print an Image.
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