To configure your picklists go to the PREFERENCES option on the menu and choose the PICKLIST OPTIONS tab. The tab has its own detailed instructions.
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To print a picklist for one order select the "ACTIONS" dropdown and then click Print Picklist

This will generate a PDF that you can send to your printer.
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​To generate picklists for multiple orders, select the orders in question using the checkboxes for each order panel as shown below.

After selecting orders a "BULK ACTIONS" dropdown appears allowing you to perform actions for multiple orders

You can reprint picklists as many times as you want.