Thank you for writing.
In the PrintPage event you have access to the graphics object of RadPrintDocument and therefore you can draw whatever you want on the document. Please find attached a sample project which has an image drawn in the places where usually the header and footer texts are. You are of course free to draw whatever you want wherever you want.
I hope this will be useful for you. Should you have further questions, I would be glad to help.
All the best,
the Telerik team