Recently I got to know from my colleague Alex that a very useful facility for this is available in Office suite for quite some time.
It's very simple- while printing you can provide a one-time password. The printer would print the document only when you have provided that password on the printer itself. Of course, you can use this only if the printer in your office/ home has option to input password, but most modern printers come with this facility.
For step by step instructions
Click File --> Print. Then on the pop-up window, click Properties button, select 'Page Setup' tab, and then select 'Secure Print' from the Output Method drop-dpwn.