I assume you are using a raw image. Like all raw image editors, darktable applies algorithms to calculate what it thinks the image should look like. Each raw editor has its own algorithm calculations so its good that you prefer DT . If you select an image and go to the darktable, look to the left hand side and you will see the history stack. These are the modules that DT has applied automatically, you will see the input and the output plus (probably) a base curve module.
However, to answer your question, in lightable, select the images that you want to print. On the right hand side there is an EXPORT tab. Select this and fill in the details on how you want the images to be exported, i.e TIFF image or maybe a 100% quality Jpeg, and DT will apply the edits in the history stack to the exported image so it should look exactly like you can see in Lightable