Si tiene instalado el Acrobat la manera más sencilla es :

Option Explicit
Private Declare Function ShellExecute Lib "shell32.dll" Alias _
     "ShellExecuteA" (ByVal hwnd As Long, ByVal lpOperation As String, _
     ByVal lpFile As String, ByVal lpParameters As String, _
     ByVal lpDirectory As String, ByVal nShowCmd As Long) As Long

Private Const SE_ERR_ACCESSDENIED = 5
Private Const SE_ERR_ASSOCINCOMPLETE = 27
Private Const SE_ERR_DDEBUSY = 30
Private Const SE_ERR_DDEFAIL = 29
Private Const SE_ERR_DDETIMEOUT = 28
Private Const SE_ERR_DLLNOTFOUND = 32
Private Const SE_ERR_FNF = 2
Private Const SE_ERR_NOASSOC = 31
Private Const SE_ERR_OOM = 8
Private Const SE_ERR_PNF = 3
Private Const SE_ERR_SHARE = 26
Private Const ERROR_FILE_NOT_FOUND = 2&
Private Const ERROR_PATH_NOT_FOUND = 3&
Private Const ERROR_BAD_FORMAT = 11&


Dim res As Long
res = ShellExecute(Me.hwnd, "print", "C:\Mis documentos\prueba.pdf", "", "", 1)
If res <= 32 Then
     'hubo un error

End If