Are you printing from photoshop or lightroom? you can print directly no need to save a jpeg or tiff first, I'd save as a tiff it's bigger but can hold more information if your working in 16bit and will support layers.
Jpeg is compressed every time you save changes, so if your re-editing an image it's better to save as tiff or psd, if your just outputting for the web and you've finished editing that image then jpeg is fine.