In Final Draft 12 / 11, go to File > Export > Beat Board to create a PDF file of the entire Beat Board.
If you are printing a large Beat Board PDF to paper, you may want to set the print job to print on multiple (tiled) pages. Check your PDF application's documentation for instructions.
Final Draft 10 does not have the ability to export the Beat Board.
Information on upgrading to Final Draft 12 is HERE.