Josh, please read my and Dr. Pete's comments below. Don't nofollow the links, but do use the meta noindex,follow on the page.

True but using robots.txt does not keep them out of the index. Only using "noindex" will do that.

Rather than using robots.txt I'd use a noindex,follow tag instead to the page. This code goes into the tag for each print page. And it will ensure that the pages don't get indexed but that the links are followed.