This functionality is not available in Qlik Sense, but is being considered. Currently QlikView does have this capability using QlikView NPrinting.
Let us know if you have any other questions.
Please mark the appropriate replies as CORRECT / HELPFUL so our team and other members know that your question(s) has been answered to your satisfaction.
We are currently not exposing any printing APIs but it's on the roadmap.
You could of course build your own setup where you render the sheets server side, using Phantom for example, and create a PDF based on that server side render.
That is really not Qlik related so you are probably more likely to get answers on StackOverflow for example,