Technically, yes, using the instructions separator - the colon :
token:
Private Sub PrintCommand() : DoCmd.PrintOut : End Sub
I would strongly advise against it though, for obvious maintainability and readability reasons.
This particular layout is used by some add-ins such as vbWatchDog, for some generated code. Because of how it challenges the expected structure of a module, it is known to cause problems with add-ins that process the code, such as Rubberduck (which I'm heavily involved with) (parser has been updated since then; this is no longer an issue) - that's because the member attributes will be stored (you need to export the module to see them, the VBE doesn't display module and member attributes), rather counter-intuitively, outside the procedure scope:
Private Sub PrintCommand() : DoCmd.PrintOut : End Sub
Attribute PrintCommand.VB_Description = "This procedure does XYZ"
The "normal" layout looks like this, and doesn't cause issues:
Private Sub PrintCommand()
Attribute PrintCommand.VB_Description = "This procedure does XYZ"
DoCmd.PrintOut
End Sub
It's easier to read, too.