If you are asking about panoramas taken with Photosynth's mobile pano app, you are able to save a flattened copy to your Windows Phone or iOS camera roll from inside the app that should be as easily printable as any other photo taken on your phone.
Just be aware that because the mobile app's shooting mode is so graphics/memory intensive that the shots taken are not very good resolution and therefore may not make the best prints. http://bit.ly/psmpr for more
If you are asking about panoramas stitched with Microsoft ICE on Windows, yes, you can export the panorama to a flattened image in a variety of formats, including JPG, PNG, PSD, and JPEGXR which should all print very nicely.
Note that if you simply take individual input shots with your phone or camera and then stitch them with a standalone panorama stitcher like ICE, your panoramas will be much higher resolution that if you capture them with an app with an interactive shooting mode.