You can print an invoice in QuickBooks Self-Employed from the Invoices page. You can click the drop-down menu under the Action column.
Then, click on the printer icon on the PDF page that appears.
However, to print multiple invoices in a single click is currently unavailable. You'll need to do it one-by-one. I can totally see efficient it is to print multiple invoices in one click. I'll be sure to take note of it.