If you can't print it, you can always buy a map of the city in the tourism office at the exit of the Central Station for €2.50. If you want to avoid paying, the best map you'll find for free is offered by Mike's Bike Tours (a Green folder advertising the company that you can find in hotels and tourism offices), because in the hotels they usually don't give out maps.
We think you might be interested in these suggested itineraries around Amsterdam.
