The BPIF's latest survey was carried out online during 1-13 September and consisted of 90 companies employing 10,197 staff with a combined turnover of £1.2bn.
It warned that the level of bad debt remains a cause for concern for many printers.
It found that order levels and production have responded to gradual market improvement, with 39% of printers reporting an increase in domestic order levels during the summer.
A third of printers have shed jobs, and while some companies were able to raise prices, others were forced to cut rates in order to compete for business.
Some 91% of companies are investing in plant and machinery, with 36% expected to spend more over the coming 12 months.
Andrew Brown, BPIF's corporate affairs director, said: "With the majority of respondents reporting stable or improved conditions over the summer, this quarter's Printing Outlook results are very encouraging.
"However, the industry is still trading well below pre-recession levels, and there are continuing uncertainties with regard to whether the improved UK economic conditions will hold up in the period ahead."
He added that paper price increases, public sector cutbacks in print spend and overcapacity will remain common causes for concern.
Some 81% of respondents expect paper and board price pressures during the autumn months, whilst only a third of UK printers have been able to pass the full impact of rising paper prices onto their customers.
A further 57% offset part of the additional charge by raising prices to some degree, while 10% absorbed the entire cost burden.
More than half of companies said print volumes have been unaffected by paper and board price increases, while two-fifths of printers surveyed said they had experienced a problem with supply shortages this year.
