Sorry, but I have to jump in - do NOT use all of those signals simultaneously. You'll make a mess, and they'll interfere with each other. You can try Robots.txt or NOINDEX on the page level - my experience suggests NOINDEX is much more effective.

Also, do not nofollow the links yet - you'll block the crawl, and then the page-level cues (like NOINDEX) won't work. You can nofollow later. This is a common mistake and it will keep your fixes from working.

Rel-canonical, in practice, does essentially de-index the non-canonical version. Technically, it's not a de-indexation method, but it works that way.

I have to agree with Jen - Robots.txt isn't great for getting indexed pages out. It's good for prevention, but tends to be unreliable as a cure. META NOINDEX is probably more reliable.

One trick - DON'T nofollow the print links, at least not yet. You need Google to crawl and read the NOINDEX tags. Once the ?print pages are de-indexed, you could nofollow the links, too.