Hello,
yes, that's correct:
1. it is recommended to have both XML and HTML sitemaps (one for search engines) and one for visitors.
2. you can use meta robots tag in <head> section of your pages to exclude them from indexing. You can use robots.txt file for the same purposes, like:
User-agent: *
Disallow: /print.php
(just an example, if your printer friendly pages are served by "print.php" script)