Only if you don't trust the encryption on your cold wallet backup where you generated the keys. Personally I'd keep both, encrypted drive and printed keys then if say the bank is robbed or burns to the ground you can still transfer the coins.

You'd want to also make sure the printer isn't storing memory of those keys that were printed.

Some weird startup out of Europe is splitting up $2mil worth of coins on 3 USB encrypted sticks, using Shamir's secret sharing as the master key to decrypt (this according to Bitcoin magazine). Sounds like a bad idea I don't trust wear leveling drives that could fail taking all your coins with them