Save this code as a Bookmarklet.
https://support.mozilla.org/en-US/kb/bookmarklets-perform-common-web-page-tasks

 javascript:(function(){var%20e=document.getElementsByTagName('a');for(var%20i=0;i<e.length;i++)e[i].innerHTML+=':%20'+e[i];})(); 

Export your bookmarks in HTML format.
https://support.mozilla.org/en-US/kb/export-firefox-bookmarks-to-backup-or-transfer

Then open that bookmarks.html file in Firefox, and run that bookmarklet.

Print that "page".

The Bookmarks appeared in the 'html' file just as described - however I would like to also print out the associated URL. Is this possible?

See also:

• [/questions/748417]

If you want to print with indention then you can edit the HTML file and add this code just between the line with the meta tag and the title tag.

<style>
 dl > dt > dl { display: block; -moz-margin-start: 40px; }
 dl > dt > dl { margin-left:40px; }
</style>