PrintService is not the same as Jasper (and probably JFreeReport, which i dont know). Jasper is used to generate reports (in various formats as XLS, PDF, HTML, ...) while PrintService is used to get the data to the printer. There is no direct support in java to print PDF even though there is a PDF doc flavor. (none that i am aware of)! you need a third party library (probably commercial) or go some extra miles (e.g. convert to PS first and then send this to the printer or use apache FOP to generate the PDF then you can also print it).
if you are looking for ways to generate PDF then there are some free solution that can be used like a printer where you print your document to a software printer which outputs PDF (i think iText is a solution for this)