Do you have include access route subnets configured? If so, this should be more than enough provided that the printers IP does not conflict with the subnet within the include list.
If not, then you can try exluding the process of "Print Spooler", its full name is "spoolsv.exe" from split tunneling - although I have not tried this myself so there may be another process that handles printing over TCP/IP.
Check out the section "Configure a split tunnel to include or exclude public applications based on the application process name:" in the below documentation.
or step12 from the GP 8.1 admin guide.
As @LukeBullimore pointed out access routes are likely what you are looking for here if you wish to configure a split-tunnel connection. The only way that this wouldn't work is if the client in question is connecting from the same IP space that you have specified for the split-tunnel (ie: Client is on a 192.168.1.0/24 network and your access routes include 192.168.1.0/24)
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