Under the terms of the contract, the Worksop-based, £1.5m-turnover company will supply the Trust with stationery, including forms for patients' casenotes, letterheads and patient information.
Ratcliff & Roper sales director David Smith said: "We are delighted to have won such a prestigious contract, which will give us a lot of security over the next five years. We have printed hospital forms for other NHS Trusts for a long time, including Harrogate and District and we hold stock of NHS forms.
"The NHS is very keen on reducing its carbon footprint and as a local supplier we were able to minimise the mileage we have to travel to deliver our service, reducing the impact our deliveries have on the environment."
David Pratt, director of finance, information and procurement for the Trust, added: "We are looking at every area of expenditure and have secured a very good deal with Ratcliff & Roper and we look forward to working with the company over the years to come."
In March this year Ratcliff & Roper, which has 25 staff, also successfully tendered for the contract to print for the University of Nottingham.