Canon XL1S can take stills with video, how do i get them to use in the PC and print them?
Sounds like you're talking about digital photo mode, which is quite different from capturing a still frame from video.
If you're using your camcorder in photo mode, you'll have to refer to the manual. If you want to grab a still frame from video, its a task for your NLE.
In Pinnacle Studio 9, its called Frame Grab. In PP, you Export a still frame to an image format. Once you have your image file, you need a graphics program (PhotoShop, etc.) to manipulate, edit and print.