What kind of command ? And what kind of document ?
You can generate a job within java. If you expect a system command it will be different from linux and windows.
Some kinds of document can be printed easily as text and PDF, other like .docx should be converted first.
Please give us more information,
for example if I were running the job on windows scheduler and it met certain conditions I'd like it to print (hardcopy) the document file (text,pdf etc) out on the system printer.
I don't know about a component that create a print job.
But you can generate a PDF with the tJasperOutput component and then use tSystem to execute a system command to print it.