I was getting the same error when I was trying to install RIM node with proxy services. I tried the below fix and it worked.
What I was able to find was that there were two problems, which were preventing Qlik Sense Printing Service to start :
1. There wasn't host.cfg (host file) being created.
2. There wasn't certificates being created.
I uninstalled Qliksense Server completely and re-installed complete setup as a Central Node and make sure all services are running after successful installation. This created both host.cfg and certificates. The full path of host file is C:\ProgramData\Qlik\Sense\Host.cfg . Usually, this contains host name encrypted in Base 64 Encoding. You can check the content and see the decryption on Base64 Decode and Encode - Online. You can export certificates created by Qliksense after installation from mmc -> add remove snap-in -> certificates (both current user and local computer) -> locate certificate with your hostname-CA -> Right Click -> All task -> Export.
Take a copy of host.cfg created at the above mentioned path
Uninstall Qliksense, make sure not to check Remove Client Certificates Option (this won't delete the certificates which are already created).
Re-install RIM node with Proxy Service. Move the host file (previously copied) to the same location (C:\ProgramData\Qlik\Sense\Host.cfg).
Restart all Qlik Sense Services.
Worked for me, Hope this works for you too !
The printing service will not start until the certificates have been received from the central repository.
So, it is really safe to ignore this until you have attached the rim node to the central node and certificates have been passed over.
Once they have, restart the service and it should start happily.