Originally, I was trying to print from the sidebar while using TurboTax, and right-click "print" only resulted in a print preview of a blank window, but none of the actual Help contents (as sometimes happens when trying to print the contents of a pop-up box).
Receiving your answer pointed me towards the TurboTax Community page, where I WAS able to find the same Q&A and right-click and print the info I needed. Not quite as simple as being able to print directly from the TurboTax sidebar while actually doing my taxes, but it does get me what I wanted.
Thanks.