Yes - there is comprehensive documentation in the Qlik Help site under installation for Qlik NPrinting:
Like Peter said - follow the instructions from Help document.
BTW - there is many requirements you have to meet when preparing your NPrinting environment - make sure you read it too as it may affect whether you will be able to create connection or not. Those requirements are around users, accounts, ports, priviliges, # of CPU cores, RAM etc... Setting it up properly at the very beginning will save a lot of time later..
So take some time and go step by step through help document section paln and deploy NPrinting