Along the lines of the iCal printout, I started thinking about a nice "print what I need for today" layout. I don't know whether this would be most suitable as a replacement for the current print layout, or whether it would be a one-click "print today's to-do list" option. Either way, it would be nice to have a concise summary of whatever you need to take with you.
Here's a mockup in OG. I appended a ton of notes to it with more details.