You can print out your files, so you should be able to print out your folders. This file management utility lets you print lists of files and folders into a plain-text file. You can set it to automatically launch the output file when it's completely written. It allows you to browse through a whole tree of folders at once. You can write filenames without extensions and paths, sort files in a number of different ways, and run filters to include or exclude files.
Note: Although this version is free, the vendor cheerfully discloses that it's nagware. A nagless professional version of this program exists; that one lets you customize your lists to fit your preferences.