Whichever browser it is opening by default now, locate the app, press and old it, go into info, then it will have a section called "defaults", and it will show that it is listed as an app to open by default for some actions, like for you, printing. So clear the defaults. Then next time you try to print the option to choose which app will come up again.
If that was a bit waffley, basically;
If you normally click a printing app to print with, but instead its opening chrome automatically, then go to the chrome app and clear its defaults.
