Printing a liver or kidney is one thing, because they are simply one big biological cell. Which is why when they fail in people, major surgery is required. There is no other cell to take over. Printing a multi-celled organism will take magnitudes of complexity more. Things to be considered are the structure of a tendon cell, as opposed to a bone cell, and how they work in tandem in muscle movement. We're talking billions of cells. Other things to take into consideration are enzymes and DNA embedding. Once you get to THAT point, it gets really weird. I personally believe that while its an achievable goal, the time frame is closer to another century, rather than a few decades.