According to Symantec, yes you can! Look at page 100 in the manual for version 11.5. For those lazy readers, here is the cut out text.
Configuring remote printing
If the host user has configured your printer information in pcAnywhere, you can
print a file that is located on the host computer to a printer at your location
during a remote control session. As you run programs on the host computer, you
can select your printer from the list of installed printers. If the host user has not
configured remote printing, you can print files to the default printer for the host
computer.
When adding a printer, the host user must have the correct drivers for the
remote computer. Symantec pcAnywhere prompts you for the location of the
printer, what port to use, and other configuration information.
To configure remote printing
1 In the pcAnywhere Manager window, on the Edit menu, click Preferences.
2 In the pcAnywhere Options window, on the Remote Printing tab, click Add
Printer.
To find this tab, click the left and right arrows in the pcAnywhere Options
window to scroll through the tabs.
3 Follow the on-screen instructions to set up the information for the printer
on the remote computer.
If the printer that the remote computer uses is not listed, you must install
the drivers first, and then repeat this procedure.
4 Click OK.