Some problems resolved during my transition from Psion to Zaurus.
As the Zaurus AddressBook is stored as a simple XML file, this XSL Stylesheet (use 'Save Link Target as ...') converts it to HTML, which can then be printed via a browser. The Zaurus addressbook is located at /home/root/Applications/addressbook/addressbook.xml.
Use your favourite XSLT Processor to process your addressbook after copying it to a desktop machine where the XSLT Processor is installed. Using e.g. Xalan it looks like this: