Windows 7: Web printing issues

For many years I've been wrestling with printing webpages: cut off margins etc.
Has there EVER been a solution to get this right?
HP has this free program up for download, but I'm not impressed.

My printer is an HP 2650dn.
It prints double sided without problems, unless I try to print from Firefox 3.6 (or IE).
Then the print gets stuck half way a page, and a full reset is necessary.
Tried several driver versions.
Got W7 Ultimate.

Anyone?

Since a long time I do not rely on the usual website printing any more. Instead I highlight the part of the webpage window I want to print, then hit CTL+P and mark "Selection" and print that. It works perfectly - see attached where I printed to the XPS Document Writer.

for less cluttered printing try this saves you the hassle of editing the page you want to print
Print Friendly & PDF
Hope this is what your looking for
be sure to look at the browser tool option

Thanks!