The following very simple macro will insert the text of
your comments after their referenced text. When you've run
the macro, simply print the document and then close
without saving, unless you want the comment text to be
saved with the document.
Dim c As Comment
For Each c In ActiveDocument.Comments
c.Reference.InsertAfter "[" & c.Range.Text & "]"
If you're unfamiliar with macros, see:
for how to install it.