First of all open that PDF file on Google Chrome Browser. If you don not have Google Chrome, download it as it's required. If you have file stored in your computer, right click on it and open it with Google Chrome. If there is a remote file. Open it in new tab of Google Chrome. It should look something like this.
Do you see print icon on top right side, Check the above screenshot. That's the print icon. Click on that. It should bring following print popup.