I am afraid I am unable to fully understand your scenario.
If you print directly from the browser menu, only the current page will be printed.
If you export to PDF and then print, there is no way out of the box for the desired functionality to be implemented.
However, you can examine the attached project to see a possible way for printing the whole content of the grid and the header/footer shown only once.
I hope it helps.
All the best,
the Telerik team
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