To set this up, first make sure that your station does not have a "receipt" type printer selected for select order types.
Navigate to Manager Home > Configuration > Printers and select Printer Station
On this screen, select your station and order type. Confirm that no printers are checked for Receipt Printing. Repeat for all order types.
Select the printer you'll want to use for on demand receipt printing for the "Local printer for station".
Now, when you tender an order, you'll see the "Print Rcpt" button at the bottom of the screen. Select it to print a receipt to the local printer for this order.