I'd rather have them printed.
I can touch-type, but that's usually while I'm sat down and have my hands in a comfortable position.
If I'm typing one handed, or I'm stood up and just momentarily need to use my laptop, then I have a harder time finding the keys. That's much better for me.
Not to mention that there are function keys which I haven't learnt off by heart, as I use them much more rarely, and there are times that other people may use my laptop and they could be at a loss.