I'm printing from rolls on the 6400. I have been using the Canon print plugin though I'm open to anything.
In Lightroom it's dead simple. Select the photos you want in the Library module, switch to the Print module, pick your size and borders, pick the color management profile (it'll remember it from the last time) and print.
There are other programs that will do batch printing. QImage is one, although the GUI can be a little daunting at first.
Jim