This question comes across my desk frequently, how can I print a test with answers in Canvas. At this time the only way it can be done for large exams is to export the quiz in Canvas.
Go to Settings, Export Content, Select Quiz, Select the Quiz to Export, it will create the QTI Export (refresh your screen to see it, you will also get an email)
Click the link to download, it will be a zip file.
Open Respondus Test Generator, switch profile to IMS QTI, import questions and switch the the Import from type file to zipped IMS QTI as it does not come up by default.
Proceed as usual with Test Setup in Respondus, give it a name, preview and then you can print with answers etc.