Quickest, easiest way is to export from a finder.

In AR, open up the Edit Customers screen. Select find, then hit F6 on your keyboard.

If you double click on the column headings you're able to add or remove fields from the list. Available fields are on the left, selected fields are the right. Select all the fields that you're interested in and then click ok.

Set the filter to be something like "Cust # not Equal to <blank>" and hit the magnifier icon. This will populate your entire customer list. You can then use the Excel icon to export it as a spreadsheet and print from there.

The same process works in AP as well.